Abstarct: In this thesis, robust fuzzy control of an electrically driven single-wheel robot with four degrees of freedom is presented. In addition, model-baxsed control is designed. Dynamic of robot is expressed by four nonlinear equations. The complexity and coupling between states make analysis and designing difficult. This robot consists of passenger seating, two motors and one omni-directional wheel. One of motors controls forward-backward steering and another one handle lateral moving. Stability and balancing in steering is baxsed on placing the driver's positions in such a way that centres of gravity are always above the axle of wheel. Equations of system are written in the matrix form by an innovative method. Then, four different control laws are proposed. First, model-baxsed feedback linearization control law using torque control strategy (TCS) is presented. Second, robust fuzzy control law baxsed on sliding-mode using TCS is introduced. In this proposed method, the upper bound of uncertainties is estimated by an adaptive rule. Third, robust fuzzy control approach using voltage control strategy (VCS) is illustrated. Fourth, robust fuzzy controller baxsed on spong method using VCS is designed. Stability of proposed schemes are proved by Lyapunov theorem. Matlab software is employed for considering to the performance of control system. . Simulation results verify the effectiveness of proposed control laws.