How to wake from sleep programmatically if lid closed?

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You can schedule wake up events with IOPMSchedulePowerEvent through the power manager. You may be able to schedule an immediate wake up. pmset is a command line wrapper for the power manager. You can also prevent sleep with IOCancelPowerChange in certain cases.

You may be able to prevent sleep or wake up by generating a mouse or key event. One way to generate events is with CGPostKeyboardEvent.

Edit:

Normal sleep is different from clamshell closed sleep. To affect the latter you must write a kernel extension like Insomnia.

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