@article{FENG2025, 
author = {Zixin FENG and Wenchao XUE and Ran ZHANG and Huifeng LI},
title = {Multi-stage robust optimization for a class of UAV trajectory planning problems with uncertain nonlinear dynamics},
year = {2025},
journal = {Chinese Journal of Aeronautics},
volume = {38},
number = {11},
keywords = {Robust optimization, UAV trajectory planning, Optimal control, Uncertain parameters, Sensitivity analysis},
url = {https://www.sciopen.com/article/10.1016/j.cja.2025.103771},
doi = {10.1016/j.cja.2025.103771},
abstract = {Trajectory planning under uncertain dynamics is critical for safety-critical systems like Unmanned Aerial Vehicles (UAVs), where uncertainties in aerodynamic force and control surface failure can lead to mission failure. This paper proposes a Multi-stage Robust Optimization (MRO) framework to address nonlinear trajectory planning with bounded but unknown parameters. By integrating first-order sensitivity analysis and sequential optimization, the proposed method ensures robustness against worst-case parameter deviations while maintaining high terminal accuracy. Unlike existing approaches, this paper explicitly quantifies uncertainty propagation through sensitivity bounds and divides long-term planning into sub-stages to reduce cumulative errors. Simulations on a UAV model with uncertainties in aerodynamic coefficients, wind fields and coefficients of control inputs demonstrate that MRO achieves high terminal state accuracy and strong robustness.}
}