Abstract: A method based on direct adaptive fuzzy control was proposed according to upstanding-balancing control problem for two-wheeled upstanding robot. There was not strict limit to the constant before input. Experiments showed that the item before input could be positive and negative, and could be a function satisfying Lipschitz condition in an interval with the same sign. The simulation showed that the method had a better control result for the robot even though the initial angle was larger. In contrast to the traditional fuzzy control, the scheme improved the stability effectively, and it was implemented that the stable control process for the two-wheeled upstanding robot from the almost recumbent state to upstanding and balancing state.