I am not aware of sensors and motors, but if you are looking for how to construct the Fuzzy If-Then Rule Base, then you may please go through the book by Rajasekaran and Vijayalaxmi Pai.
You may also go through the attached publication, whose full text can be downloaded from the journal website.
With Regards
Ashu
Article Fuzzy logic approach in mode choice modelling for education ...
This topic has been dealt with intensively in the available relevant literature but you can have a look the attached good paper. Hope you will find it useful.