Control System for a Segway

摘要

In order to implement the control of a segway, a program was developed in a 32-bit microcontroller of the STM32F746 family that, through a PID-type control and together with a Kalman filter, allows to keep the balance in the device, obtaining a response in a short time thanks to the PID control, thus achieving to maintain the vehicle at a certain point with great efficiency.