The new type of two wheeled car in the field work and urban road patrol has important application value, the two wheeled vehicle self balancing control to ensure the stability of the car is the key to stable operation. As a result of the two wheel drive control system is a multi input multi output nonlinear strong coupling system, in the unstable road prone to shake. On the basis of conventional synovial control, a nonlinear sliding mode switching surface error tracking is introduced, and a two wheeled self balancing control algorithm is proposed, which is based on the suppression of the interference of the synovial membrane. The motion state equation and equilibrium control parameter analysis model of two wheeled vehicle was constructed. The model of the control law was designed by nonlinear sliding mode control law, and the nonlinear integral compensation was added to compensate the car chattering and improve the robustness of the car balance control system. Simulation results show that the proposed control algorithm has good performance in balancing the two wheeled vehicle, the output of the attitude error is reduced, the stability of the car is better, and the self balancing control and regulation of two wheeled vehicle is realized.