Taking　a　kind　of　unicycle　robot,　which　is　driven　to　keep　longitude　stability　and　lateral　stability　by　a　wheel　and　a　motor　driven　disk　respectively,　as　an　object　to　be　controlled,　the　dynamic　model　of　the　robot　system　is　established,　and　the　system　equation　is　linearized　at　the　equilibrium　point.　Two　linear　models　are　obtained,　which　are　decoupled　in　longitude　and　lateral.　Then　the　fuzzy　controllers　are　designed　based　on　the　fusion　function　aiming　to　the　two　systems　respectively.　The　method　can　decrease　the　number　of　fuzzy　rules　and　avoid　the　rule＇s　explosion.　The　simulation　results　show　that　the　controller　makes　the　system　achieve　balance　and　the　movement　control.