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The rapid development of unmanned aerial vehicle (UAV) technology providesflexible communication services to terrestrial nodes. Energy efficiency iscrucial to the deployment of UAVs, especially rotary-wing UAVs whose propulsionpower is sensitive to the wind effect. In this paper, we first derive athree-dimensional (3D) generalised propulsion energy consumption model (GPECM)for rotary-wing UAVs under the consideration of stochastic wind modeling and 3Dforce analysis. Based on the GPECM, we study a UAV-enabled downlinkcommunication system, where a rotary-wing UAV flies subject to stochastic winddisturbance and provides communication services for ground users (GUs). We aimto maximize the energy efficiency (EE) of the UAV by jointly optimizing the 3Dtrajectory and user scheduling among the GUs based on the GPECM. We formulatethe problem as stochastic optimization, which is difficult to solve due to thelack of real-time wind information. To address this issue, we propose anoffline-based online adaptive (OBOA) design with two phases, namely, an offlinephase and an online phase. In the offline phase, we average the wind effect onthe UAV by leveraging stochastic programming (SP) based on wind statistics;then, in the online phase, we further optimize the instantaneous velocity toadapt the real-time wind. Simulation results show that the optimizedtrajectories of the UAV in both two phases can better adapt to the wind inchanging speed and direction, and achieves a higher EE compared with thewindless scheme. In particular, our proposed OBOA design can be applied in thescenario with dramatic wind changes, and makes the UAV adjust its velocitydynamically to achieve a better performance in terms of EE.

Energy-Efficient UAV Communications in the Presence of Wind: 3D Modeling and Trajectory Design