This study presents the motor design methodology and adaptive fuzzy self-tuning proportional–integral–derivative (PID) velocity closed-loop control of slim sensorless brushless direct current (BLDC) motors with self-lubricated bearings that operate at a high speed of 14,000 rpm. Moreover, the novel sensorless commutation method includes a mask-based phase shift detector to detect precise optimal commutation points. A prototype of the slim sensorless radial-flux BLDC motor with a self-lubricated bearing for use in the blowers of vacuum cleaners was manufactured and the motor design methodology was verified. The damping interaction caused by the self-lubricating hydrodynamic bearings, shafts, and blades of blowers was also considered, together with a multi-physics analysis. The velocity control experiment used a adaptive fuzzy self-tuning PID control algorithm that has been proven to improve the dynamic performance of the slim sensorless BLDC motors in the blowers of vacuum cleaners. The settling time converged within 1 s, that is, the vacuum cleaners rapidly switched to different speeds, and the control approach exhibited robustness and precision in a steady state.