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Because the nonlinear gain function and the uncertainties of the controlled system including matched and unmatched uncertainties are supposed to be unknown, fuzzy logic systems are employed to approximate the nonlinear gain function and the upper bounded functions of these uncertainties. Moreover, the upper bound of the uncertainty caused by the fuzzy modeling error is also estimated. According to these learning fuzzy models and some feasible adaptive laws, a robust adaptive fuzzy tracking controller is developed in this paper without constructing the dead-zone inverse. Based on the Lyapunov stability theorem, the proposed controller not only guarantees that the robust stability of the whole closed-loop system in the presence of uncertainties and unknown dead-zone input can be achieved, but it also obtains that the output tracking error can converge to a neighborhood of zero exponentially. 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