This thesis presents a new control philosophy based on Direct Force Control (DFC) for over-actuated aircraft. It is predicated on simultaneously controlling all six Degrees of Freedom (DoF). The Innovative Control Effectors (ICE) aircraft with its thirteen-part control effector suite is the subject of study. Active-Set (A-S) based Incremental Nonlinear Control Allocation (INCA) studied in previous work is extended and adapted to suit 6DoF incremental control commands. Translational inner loops were designed and connected to various outer loops. DFC provided substantial increases in tracking performance for air-to-air refueling for steady straight and steady turns with varying degrees of turbulence. A hybrid DFC strategy for vertical control paired with lateral control through roll showed stability and controllability improvements for high crosswind landings.