Based on Takagi-Sugeno (T-S) fuzzy models, a robust fuzzy model predictive control (MPC) algorithm is presented for a class of nonlinear time-delay systems with input constraints. Delay-dependent sufficient conditions for the robust stability of the closed-loop system are derived, and the condition for the existence of the fuzzy model predictive controller is formulated in terms of nonlinear matrix inequality via the parallel distributed compensation (PDC) approach By using a novel matrix transform technique, a receding optimization problem with linear matrix inequality (LMIs) constraints is constructed to design the desired controllers with an on-line optimal receding horizon guaranteed cost Finally, an example of continuous stirred tank reactors (CSTR) is given to demonstrate the effectiveness of the proposed results