Solve joint trajectory tracking as QP

[Woolfrey]

We could solve the trajectory tracking control problem using QP:

\begin{align}
\min_\mathbf{\ddot{q}} \| \mathbf{\ddot{q}}_\mathrm{r} - \mathbf{\ddot{q}}\|^2_\mathrm{M}  \\
\begin{bmatrix}
\mathbf{\ddot{q}}_\mathrm{min} \\
\boldsymbol{\tau}_\mathrm{min}
\end{bmatrix}
\le
\begin{bmatrix}
\mathbf{\ddot{q}} \\
\mathbf{M\ddot{q}}
\end{bmatrix}
\le
\begin{bmatrix}
\mathbf{\ddot{q}}_\mathrm{max} \\
\boldsymbol{\tau}_\mathrm{max}
\end{bmatrix}
\end{align}

So that the resulting joint acceleration satisfied both kinematic and dynamic limits.