A　generalized　predictive　control　with　adaptive　fuzzy　estimator　(GPC-AFE)　is　proposed　for　spacecraft.　Model　uncertainties　and　mismatch　disturbances　are　considered　in　the　process　of　controller　design.　For　the　attitude　subsystem,　a　predictive　control　based　on　an　adaptive　fuzzy　estimator　is　designed　to　deal　with　the　unknown　disturbances.　For　the　angular　velocity　subsystem,　the　actual　control　input　is　designed　by　using　the　generalized　predictive　control.　The　derivative　of　virtual　control　and　unknown　disturbances　in　the　actual　control　are　also　estimated　by　using　an　adaptive　fuzzy　estimator.　With　the　proposed　generalized　predictive　control,　the　tracking　error　of　the　attitude　converges　to　a　bounded　neighborhood　of　the　reference　attitude.　Theoretical　results　are　illustrated　by　numerical　simulation.　(C)　2017　American　Society　of　Civil　Engineers.