I demonstrate a methodology to implement Linear MPC on a non-Linear system of Quadrotor. While the underlying non-linear dynamics are encapsulated, the high-level control is employed to achieve a Linear control system to use a Linear MPC controller.

Me han pedido que aprenda a tocar Opensim y aquí voy subiendo mis avances y guías

Matlab Scripts for 3D tracking and visualisation with Optitrack and ROS