This paper addresses robust fuzzy adaptive control for nonlinear multi-input multi-output systems in the presence of parametric uncertainties and external disturbances. A universal approximator is used to approximate the plant model. The boundedness of the variables involved and convergence towards zero of the tracking error are guaranteed by a supervisory control. The effect of both the approximation errors and the external disturbances is attenuated to a prescribed level via an H∞ supervisor. Sufficient conditions are derived for robust stabilization in the sense of Lyapunov asymptotic stability. The effectiveness of the proposed controller design methodology is demonstrated by numerical simulations of a two-link robot.