<p>This paper focuses on an adaptive fuzzy fixed-time tracking control problem for nonlinear systems with time-varying delays. By employing the finite covering lemma and fuzzy logic systems (FLSs), the time-varying nonlinear system is transformed into a constant delay nonlinear system, thereby refraining from using the Lyapunov–Krasovskii functional (LKF). In the design of the controller, command filtering technology is introduced to address the “complexity explosion” phenomenon faced by traditional backstepping techniques. To address the impact of errors generated by the command filter, a corresponding error compensation system is constructed. Additionally, in the process of compensating for filtering errors, the hyperbolic tangent function replaces the sign function, significantly reducing chattering issues. The proposed approach effectively integrates the backstepping method with practical fixed-time stability criteria. This guarantees the boundedness of all closed-loop signals and ensures tracking errors diminish to a small range near zero within a fixed time. More importantly, the convergence time depends solely on the design parameters. The effectiveness of the proposed control strategy is validated through two simulation examples.</p>