Full-pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles with Limited Actuation Abilities

This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multi-rotor aerial vehicles with limited actuation abilities. The proposed allocates feasible inputs track reference trajectory, while ensuring the of position, and closest attitude. optimization simultaneously searches for corresponding from infinite possible solutions, smooth inputs. real-time algorithm is tested in extensive simulation on multiple platforms fixed actuated propellers. experiments show ability approach exploit complex set forces moments allocating