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JRM Vol.36 No.5 pp. 1082-1089
doi: 10.20965/jrm.2024.p1082
(2024)

Paper:

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Covariance Control for Uncrewed Aircraft Systems Under Correlated Uncertainty

Yoshinori Matsuno ORCID Icon

Aviation Technology Directorate, Japan Aerospace Exploration Agency (JAXA)
6-13-1 Osawa, Mitaka, Tokyo 181-0015, Japan

Received:
March 19, 2024
Accepted:
August 19, 2024
Published:
October 20, 2024
Creative Commons License
Keywords:
convex programming, correlated uncertainty, covariance control, covariance steering, stochastic optimal control
Abstract

Uncrewed aircraft systems and advanced air mobility are associated with uncertain conditions, such as wind prediction errors, and they may deviate from dedicated airspaces referred to as corridors. However, further studies on these aspects are required. This study focuses on the covariance control for a stochastic discrete-time linear system under correlated uncertainties. A covariance control problem with chance constraints can be formulated as a convex-programming problem. Numerical simulations of uncrewed aircraft systems path planning can be used to compare two control laws: covariance control laws that consider correlated and noncorrelated noise. Numerical simulations were conducted to verify that the covariance control law considering correlated noise generates a trajectory that appropriately satisfies the constraints. Consequently, the effect of considering correlated noise in the covariance control law was clarified. In addition, covariance control has been demonstrated to generate appropriate trajectories for various state constraints. Moreover, numerical simulations indicated that covariance control facilitated the control of uncertainty, and the effectiveness of the covariance control was evaluated. The insights gained from the results of this study can inform enhanced uncertainty management for improving reliability and safety in real-world applications of uncrewed aircraft systems and advanced air mobility.

Covariance control results (Monte Carlo simulation with 50 trials)

Covariance control results (Monte Carlo simulation with 50 trials)

Cite this article as:
Y. Matsuno, “Covariance Control for Uncrewed Aircraft Systems Under Correlated Uncertainty,” J. Robot. Mechatron., Vol.36 No.5, pp. 1082-1089, 2024.
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Last updated on Mar. 19, 2025