Full-Pose Tracking Control for Aerial Robots with Bounded Lateral Force: An SE(3) Approach

This paper presents a full-pose tracking control strategy for aerial robotic systems that ensures bounded input force in the lateral direction. The approach is based on SE(3) control and allows for independent tracking of position and orientation trajectories. The effectiveness of the proposed method is demonstrated through simulation results. The strategy has potential applications in aerial robotics for tasks such as inspection, surveillance, and transportation.