  A self-powered scheme is explored for achieving long-endurance operation,
with the use of solar power and buoyancy lift. The end goal is the capability
of infinite endurance while complying with the Unmanned Aerial Vehicle (UAV)
dynamics and the required control performance, maneuvering, and duty cycles.
Nondimensional power terms related to the UAV power demand and solar energy
input are determined in a framework of Optimal Uncertainty Quantification
(OUQ). OUQ takes uncertainties and incomplete information in the dynamics and
control, available solar energy, and the electric power demand of a solar UAV
model into account, and provides an optimal solution for achieving a
self-sustained system in terms of energy. Self-powered trajectory tracking,
speed and control are discussed. Aerial vehicles of this class can overcome the
flight time limitations of current electric UAVs, thereby meeting the needs of
many applications. This paper serves as a reference in providing a generalized
approach in design of self-powered solar electric multi-rotor UAVs.
