A fuzzy controller equipped with an adaptive algorithm and two supervisors is developed in this work to achieve tracking performances for a class of uncertain non-linear single input single output (SISO) systems with external disturbances. The convergence of the training algorithm is guarantied by a gradient projection law. The effect of both the approximation errors and the external disturbances is attenuated to a prescribed level thanks to H-infinity control. The convergence of the tracking error toward zero is guarantied by a supervisor where linguistic rules are used to accelerate the convergence speed.