Infrared imaging seeker is considered as one of the most important parts of the precision-guided missile, while the performance of the seeker control system is a vital prerequisite to improve the tracking accuracy. To improve the precision of the control system, in this paper, a model for the infrared imaging seeker was firstly established, and then a fuzzy adaptive controller was designed by introducing an more effective fuzzy rule, and the self-tuning factors were made to modify the parameters of the fuzzy controller. Finally, the comparison between the control system using normal PID and fuzzy adaptive PID shows that the fuzzy adaptive PID controller could achieve better dynamic characteristics and tracking accuracy.