These 3 videos show several comparative experiments on the new controller we developed for fully-actuated platforms: differently from state-of-the-art pseudoinversion-based controllers our proposed controller can cope with lateral force actuation bounds by prioritizing the tracking of the position over the rotational one. If the reference 6D trajectory is feasible then it is perfectly tracked, otherwise it is tracked at best while guaranteeing the overall stability of the platform.
Details on the method are given in this paper 
- , “Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force”, IEEE Trans. on Robotics, vol. 34, no. 2, pp. 534-541, 2018.