An adaptive neuro-fuzzy control design is suggested in this paper, for tracking of nonlinear affine in the control dynamic systems with unknown nonlinearities. The plant is described by a Takagi-Sugeno (T-S) fuzzy model, where the local submodets are realized through nonlinear dynamical input-output mappings. Our approach relies upon the effective approximation of certain terms that involve the derivative of the Lyapunov function and the unknown system nonlinearities. The above task is achieved locally, using linear in the weights neural networks. A novel resetting scheme is proposed that assures validity of the control input. Stability analysis provides the control law and the adaptation rules for the network weights, assuring uniform ultimate boundedness of the tracking and the signals appearing in the closed-loop configuration. Illustrative simulations highlight the approach. (C) 2008 Elsevier Ltd. All rights reserved.