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                <term xml:lang="en">Multirotor aerial robots</term>
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              <p>— This paper presents a robust cascaded controlarchitecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control, combined with structured H∞ control—originally proposed forunder-actuated multirotors in [12]—to a broader range ofmultirotor configurations. Furthermore, it reduces the controllaw’s dependency on the multirotor model compared to themethods in the literature by shifting it to the actuator model,thereby improving the closed-loop robustness to uncertainties.To achieve attitude and position tracking, we employ a weightedleast-squares geometric guidance control allocation method,formulated as a quadratic optimization problem, enabling fullpose tracking. The proposed approach effectively addresseskey challenges, such as preventing infeasible pose references,enhancing robustness to disturbances, and accounting for themultirotor’s actual physical limitations. Numerical simulationswith an over-actuated hexacopter validate the method’s effectiveness, demonstrating its adaptability to diverse missionscenarios and its potential for real-world aerial applications.</p>
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