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This paper addresses the problem of designing robust output tracking controls for a class of nonlinear MIMO systems that are represented by input-output models involving plant uncertainties and external disturbances. Hybrid adaptive-robust tracking control schemes which are based upon a combination of the H^~ tracking theory, VSS control algorithm, and fuzzy control design are developed such that all the states and signals are bounded and an H^~ tracking control is guaranteed. Consequently, the tracking performance of adaptive fuzzy-based control is greatly improved with the help of robust VSS and H^~ control algorithms. The H^~ tracking control design can be extended to treat general uncertain nonlinear systems with the help of adaptive fuzzy approximators.