Covariance Control for Uncrewed Aerial Vehicles in the Presence of Uncertainty

Abstract

This paper addresses covariance control for a stochastic discrete-time linear system under correlated uncertainties. The covariance control problem with chance constraints can be formulated as a convex programming problem. Numerical simulations for uncrewed aerial vehicle path planning compare two control laws: covariance control laws considering correlated noise and non-correlated noise. Through the numerical simulations, it is verified that the covariance control law considering correlated noise generates a trajectory that satisfies the constraints appropriately. The effect of considering correlated noise within the covariance control law is clarified.