欠驱动船舶循迹过程中受到时变多源干扰的影响，同时在航行转艏处易产生控制力突变现象。针对上述两方面的问题，文中将扩张状态观测器(ESO)与模型预测控制(MPC)相结合，提出了一种最优循迹控制方法。首先，设计了扩张状态观测器对时变多源干扰进行补偿并提供低频控制输入；其次，以优化船舶航行控制力为目标，设计了一种非线性MPC控制器；最后，基于非线性分离式原理证明了ESO-MPC级联控制器的稳定性。并通过与自抗扰控制方法(ADRC)及MPC控制方法进行仿真对比，验证了该控制方法的有效性。

Underactuated ships are facing problems of interference of time-varying multi-source disturbance and sudden changes in control force at the turning points during path following. Aiming at the above two problems, this paper proposed an optimal control method by combining the extended state observer with model predictive control. Firstly, the ESO extended state observer was designed to compensate for time-varying multi-source disturbance and provide low-frequency control input. Secondly, a nonlinear MPC controller was designed to optimize the control force. Finally, the stability of the ESO-MPC cascade controller was proved based on the nonlinear separation principle. The simulation comparison with active disturbance rejection control method and MPC control method verified the effectiveness of the proposed ESO-MPC cascade control method.