Since the non-singleton fuzzy logic controllers (NFLCs) can effectively reflect the uncertainty brought by the inputs, they are used for balance control and position control of the mobile two-wheeled self-balancing robot (MTWSBR) in this paper. The similarity between the inputs and the antecedent fuzzy sets as the firing strength, that is, the similarity-based non-singleton fuzzy logic controller (Sim-NFLC), is proposed to deal with the problem of information loss caused by the standard non-singleton fuzzy logic controller (Sta-NFLC) in terms of the interaction of the inputs and antecedents. A comparative study among singleton fuzzy logic controllers (SFLCs), Sta-NFLCs and Sim-NFLCs, and interval type-2 fuzzy logic controllers (IT2FLCs) and general type-2 fuzzy logic controllers (GT2FLCs) are also shown. The simulation results show that the performance of Sim-NFLCs is better than that of SFLCs and Sta-NFLCs. The similarity-based general type-2 fuzzy logic controller (Sim-NGT2FLC) gets the best performance in handling the input uncertainty.
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