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.