  This paper presents a trajectory-tracking controller for multi-rotor unmanned
aerial vehicles (UAVs) in scenarios where only the desired position and heading
are known without the higher-order derivatives. The proposed solution modifies
the state-of-the-art geometric controller, effectively addressing challenges
related to the non-existence of the desired attitude and ensuring positive
total thrust input for all time. We tackle the additional challenge of the
non-availability of the higher derivatives of the trajectory by introducing
novel nonlinear filter structures. We formalize theoretically the effect of
these filter structures on the system error dynamics. Subsequently, through a
rigorous theoretical analysis, we demonstrate that the proposed controller
leads to uniformly ultimately bounded system error dynamics.
