A method of operating an under-actuated actuator system comprising a plurality of actuators, preferably for operating a multiactuator aerial vehicle, wherein said actuators are preferably devised as individual propulsion units of the multiactuator aerial vehicle, each one of the actuators having a maximum physical capacity or limit u max, the method comprising: controlling the actuators with an actual control input u ∈ R k computed from an allocation equation u = D − 1 u p, wherein D -1 is an inverse allocation matrix and u p ∈ R m is a vector designating a desired pseudo control input defined by a system dynamics equation M x x ̈ + c x x ̇ + g x + G x u p = f ext, wherein x ∈ R n is an n-dimensional configuration vector of the system, M x ∈ R n × n is a state dependent generalized moment of inertia, c x x ̇ ∈ R n are state dependent Coriolis forces, g x ∈ R n are gravitational forces, f ext ∈ R n are external forces and torques, and G x ∈ R n × m is a control input matrix which contains the information of under-actuation, where the system is said to be under-actuated if Rank ( G ( x)) < n or both under-actuated and overly determined in case of k > m > n and Rank ( G ( x) D) < n, with k, m, n ∈ N; using a feedback control to recurrently compute a desired pseudo control input u p from said system dynamics equation; if at least one component of said desired pseudo control input u p is greater than a corresponding maximum pseudo control input u p max that is generated based on said actuator maximum physical capacity u max and based on positions or configuration of the actuators within the system, or if the actuator system comes to its control volume limit and said desired pseudo control input u p is greater than said corresponding maximum pseudo control input u p max, u p > u p max, without individual actuators reaching their own limits u max, for instance if all actuators are close to their respective limits u max, then selecting at least one of the components of u p as a prioritized component and prioritizing said at least one of the components of u p over the other components of u p; and a) by means of a prioritizing algorithm, solving said allocation equation for said at least one prioritized component of u p before solving said allocation equation for the remaining components of u p; or b) by means of an alternative prioritizing algorithm during state feedback control, adjusting a limiting value of said at least one prioritized component of u p by an amount, while keeping respective limiting values of the remaining components of u p constant, which limiting values correspond to or are derived from respective components of said corresponding maximum pseudo control input u p max. controlling the actuators with an actual control input u ∈ R k computed from an allocation equation u = D − 1 u p, wherein D -1 is an inverse allocation matrix and u p ∈ R m is a vector designating a desired pseudo control input defined by a system dynamics equation M x x ̈ + c x x ̇ + g x + G x u p = f ext, wherein x ∈ R n is an n-dimensional configuration vector of the system, M x ∈ R n × n is a state dependent generalized moment of inertia, c x x ̇ ∈ R n are state dependent Coriolis forces, g x ∈ R n are gravitational forces, f ext ∈ R n are external forces and torques, and G x ∈ R n × m is a control input matrix which contains the information of under-actuation, where the system is said to be under-actuated if Rank ( G ( x)) < n or both under-actuated and overly determined in case of k > m > n and Rank ( G ( x) D) < n, with k, m, n ∈ N; using a feedback control to recurrently compute a desired pseudo control input u p from said system dynamics equation; if at least one component of said desired pseudo control input u p is greater than a corresponding maximum pseudo control input u p max that is generated based on said actuator maximum physical capacity u max and based on positions or configuration of the actuators within the system, or if the actuator system comes to its control volume limit and said desired pseudo control input u p is greater than said corresponding maximum pseudo control input u p max, u p > u p max, without individual actuators reaching their own limits u max, for instance if all actuators are close to their respective limits u max, then selecting at least one of the components of u p as a prioritized component and prioritizing said at least one of the components of u p over the other components of u p; and a) by means of a prioritizing algorithm, solving said allocation equation for said at least one prioritized component of u p before solving said allocation equation for the remaining components of u p; or b) by means of an alternative prioritizing algorithm during state feedback control, adjusting a limiting value of said at least one prioritized component of u p by an amount, while keeping respective limiting values of the remaining components of u p constant, which limiting values correspond to or are derived from respective components of said corresponding maximum pseudo control input u p max. a) by means of a prioritizing algorithm, solving said allocation equation for said at least one prioritized component of u p before solving said allocation equation for the remaining components of u p; or b) by means of an alternative prioritizing algorithm during state feedback control, adjusting a limiting value of said at least one prioritized component of u p by an amount, while keeping respective limiting values of the remaining components of u p constant, which limiting values correspond to or are derived from respective components of said corresponding maximum pseudo control input u p max.