For a class of multiinput and multioutput highorder nonlinear systems, a characteristic model is theoretically deduced in detail. And a stable adaptive fuzzy generalized predictive control scheme based on the characteristic model is designed. Having applied hierarchical fuzzy systems in the control architecture, the number of rules in a fuzzy logic controller is reduced greatly, thus the control instantaneity can be improved. In addition，a designed control scheme is used to satellite attitude control by the authors. The simulation results show that the method possesses good robustness, and the higher precision of satellite attitude control can be achieved.