For a class of uncertain systems, their tracking control designing is investigated in this chapter, which is in strict-feedback form and subject to actuator fault. By using command filters, backstepping control technique, and fuzzy logic systems, a new adaptive control strategy with supervisory control is designed. In classical backstepping design, “explosion of complexity” is common. In the strategy, however, command filters are used to estimate the virtual controllers such that the “explosion of complexity” is overcome. In addition, the control strategy proposed in this chapter removes the condition that the first n derivatives of desired signal known are also removed. Supervisory controllers in the strategy are utilized such that all the boundedness of states, namely, all states at each design step should belong to a compact set, is guaranteed, which is necessary for the capability of fuzzy logic systems. The control strategy proposed in this chapter ensures that stability analysis is strict. Further, for backstepping control, some of the errors in the literature also are overcome. Finally, for the control strategy in this chapter, its validity is verified by some simulation results.