Abstarct: This thesis proposes a MIMO (multi input-multi output) fuzzy adaptive output feedback tracking control method for vertical maneuver of VTOL (vertical takeoff and landing) aircraft. Since in practice; uncertainties exist in the input coupling parameter due to its dependence on the physical parameters, and unknown disturbances can occur as well in the form of input-dependent accelerations in dynamics, which should be compensated at the same time. In the VTOL aircraft, the rolling moment reaction jets in the wingtip create a force that is not perpendicular to the y-body axis. Hence, a positive rolling moment will induce a slight acceleration of the aircraft to the right. This characterizes the non-minimum phase property of the VTOL aircraft. To this end, the dynamics with input-dependent disturbances are first rigorously derived baxsed on the general form of acceleration disturbance vector in VTOL system. Second, the nonlinear velocity observer is designed to estimate the velocity information not available in the actual situation such that the output feedback tracking control can be achieved even in the presence of uncertain input coupling and disturbances. Third, fuzzy adaptive estimator is designed to estimate both unknown input coupling coefficient and input-dependent disturbances. fuzzy systems are employed to approximate the plant’s unknown nonlinear functions and robustifying control terms are used to compensate for approximation errors. Finally, the fuzzy adaptive output tracking controller is designed baxsed on the nonlinear velocity observer and the fuzzy adaptive estimator. The trajectory tracking errors can be guaranteed to be globally ultimately bounded and their ultimate bounds can be adjusted appropriately. Both stability analysis and simulation results demonstrate the effectiveness of the proposed method against uncertainties and disturbances in VTOL system.