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JorgeEsperCh / ESP32-MPC-Trajectory-Tracking-_-JORGE-ESPER-_-UNAB

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Implementación exitosa de un controlador predictivo (MPC) en un ESP32 para el seguimiento preciso de la trayectoria 'Mariposa de Fay' en un robot diferencial. Incluye modelo cinemático, discretización de Euler y sintonía de matrices de pesos Q y R para garantizar la convergencia del error.

arduino automation control robot robotics esp32 mpc control-systems mechatronics unab
  • Updated Apr 30, 2026
  • C

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