  Tilted hexarotors embody a technology that remains partially unexploited in
terms of its potential, especially concerning precise and concurrent position
and attitude control. Focusing on these aerial platforms, we propose two
control architectures that can tackle the trajectory tracking task, ensuring
also the attitude regulation: one is designed resting on the differential
flatness property of the system, which is investigated in the paper, and the
other is a hierarchical nonlinear controller. We comparatively discuss the
performance of the two control schemes, in terms of the accuracy of both the
tracking control action and the attitude regulation, the input effort, and the
robustness in the presence of disturbances. Numerical results reveal both the
robustness of the hierarchical approach in the case of external disturbance and
the accuracy of the differential flatness-based controller in unwindy
conditions.
