Higher-order Poincaré sphere (HOPS) beams with spatially variable polarization and phase distributions are opening up a host of unique applications in areas ranging from optical communication to microscopy. However, the flexible generation of these beams with high peak power from compact laser systems remains a challenge. Here, we demonstrate the controlled generation of HOPS beams based on coherent beam combination from an Yb-doped multicore fiber (MCF) amplifier. Using a spatial light modulator to adaptively adjust the wavefront and polarization of the signals seeded into the individual cores of the MCF various structured beams (including cylindrical vector beams and first- and second-order vortex beams) were generated with peak powers up to 14 kW for ∼92ps pulses.