A stable fuzzy H∞ adaptive controller was proposed to deal with the output tracking problem of a hypersonic vehicle subject to parameters uncertainty.Considering the parameter uncertainty in the system,we used a fuzzy adaptive system for online approximating the nonlinear item in dynamic inversion controller, which was subject to parameter uncertainty.In the meantime,robust compensation was introduced,which could reduce the impact caused by approximation error of the fuzzy logic system and the external disturbances,and could improve the H∞ performance of the system.The stability of the whole system was proved by using Lyapunov theory.The simulation results demonstrated that: by using the method,the hypersonic vehicle may have fine tracking performance and high robustness.