How to predict the dynamics of nonlinear chaotic systems is still a challenging subject with important real-life applications. The present paper deals with this important yet difficult problem via a new scheme of anticipating synchronization. A global, robust, analytical and delay-independent sufficient condition is obtained to guarantee the existence of anticipating synchronization manifold theoretically in the framework of the Krasovskii-Lyapunov theory.that the receiver system can synchronize with the future state of a transmitter system for an arbitrarily long anticipation time, which allows one to predict the dynamics of chaotic transmitter at any point of time if necessary. Also it is simple to implement in practice. A classical chaotic system is employed to demonstrate the application of the proposed scheme to the long-term prediction of chaotic states.