Attitude Control of Hybrid Aerial Underwater Vehicle Based on Robust Incremental Constraint Predictive Control

Hybrid aerial underwater vehicles (HAUV) are in-valuable for marine monitoring due to their cross-medium capabilities. However, nonlinear disturbances in wave environments challenge their attitude control. This paper addresses the takeoff posture control of the quadrotor HAUV under wave conditions, proposing a combined strategy that integrates a Nonlinear Disturbance Observer (NDO) and Robust Incremental Constrained Predictive Control (RICPC). By constructing a deep-water wave-vehicle dynamics coupling model, the NDO estimates and compensates for disturbances such as wave forces and viscous drag, while <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H_{\infty}$</tex> method provides optimization constraints for the ICPC to achieve precise HAUV posture tracking, ensuring both robustness and accuracy. Simulations show that the method effectively suppresses disturbances across various sea states, significantly improving roll and pitch stability, with excellent performance under different sea state. This work supports stable HAUV operations in complex marine environments and has potential applications in broader marine engineering fields.