In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates well platforms endowed with non-coplanar/non-collinear rotors that can use the tilted propellers to slightly change the orientation of the total thrust w.r.t. the body frame. For this broad class of systems, we introduce a new geometric control strategy in SE(3) to achieve, whenever made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The exponential tracking of a feasible full-pose reference trajectory is proven using a Lyapunov technique in SE(3). The method can deal seamlessly with both under- and fully-actuated LBF platforms. The controller guarantees the tracking of at least the posi 查看全文>>