Abstract: A vehicle and method of control comprising generating a geometric control envelope in a geometric space of operation points defined by a number of control aspects, the envelope having vertices representing maximum values of the control aspects, and determining a desired operation point in the geometric space representing a control input. Further, the method includes if the desired operation point is outside the envelope, scaling up a first one of the control aspects by a first factor, determining an effective operation point in the envelope geometrically closest to the desired operation point, scaling down all of the control aspects by a second factor inverse of the first factor, and instructing the propulsion mechanisms to propel the vehicle according to the effective operation point.