Add higher order control inputs

[malintha]

The drones should be able to accept velocity/acceleration control inputs. Since the Lee's controller accepts only the positional inputs, this needs to be catered from the dynamical system front. I.e., Integrating the differentially flat model with the given control input and use the resulting coordinates to optimize the trajectories.
This can also handle stochastic dynamics, by adding a Gaussian noise to the integration.