Due to existence of gravity

it becomes more complex to control posture balance when two- wheeled robot is moving on slope.To realize balance control of robot

firstly establish dynamic model of two-wheeled robot on slope

and then design a nonlinear PD controller for two-wheeled robot.In contrast with traditional linear PD controller

two simulation experiments are conducted that experimental results indicate that nonlinear PD control has better effect in aspects of response speed

stability and robustness.Finally

introduce speed control in posture balance control

which constitutes double loop PD control

to realize static balance of two-wheeled robot on slope.