Abstract: Aiming at the performance of the adaptive nonlinear model predictive flight controller degraded greatly when big external disturbance and model parameter uncertainties exist simultaneously, a robust adaptive nonlinear predictive controller with fuzzy disturbance observer compensation-robust adaptive nonlinear model predictive control (FDO-RANMPC) is proposed. Firstly, a recursive least squares method with restrictions on unknown parameters is employed for online identification of model parameters; Secondly, by using FDO output value to compensate and eliminate the larger composite disturbance, and by using Tube RMPC control strategy, a FDO-RANMPC flight controller with guaranteed stability is developed; Finally, simulation results for attitude command tracking in the presence of composite disturbance demonstrate the applicability and the asymptotic stability of the designed controller.