The invention discloses a two-wheeled self-balance robot control method based on part of known parameters. The two-wheeled self-balance robot control method comprises the following steps of: arranging a controller in a maser control chip; obtaining motion parameters of a self-balance robot; obtaining an expected angle Theta r by taking speed errors ev of expected speed with FORMULA as shown in the specification and practical speed with FORMULA as shown in the specification as an input signal of a speed robust controller and a speed sliding mode controller; and controlling output voltage U to drive a motor system to move by taking angle errors eTheta of an expected angle Theta r and a practical angle Theta and angular speed with FORMULA as shown in the specification as an input signal of an angle robust controller and an angle sliding mode controller. With the adoption of the technical scheme provided by the invention, output control on the angle robust controller, the angle sliding mode controller, the speed robust controller and the speed sliding mode controller is realized by taking differential as feedback, so that the controller still can keep good performance of the two-wheeled self-balance robot when some parameters in the practical two-wheeled self-balance robot have deviation.