Motion control in absence of human involvement is difficult to realize for autonomous
vessels because there usually exist environmental disturbances and unmeasurable states at
the same time. A discrete-time model predictive control (MPC) approach based on a state-
compensation extended state observer (SCESO) is proposed to achieve more precise
control performance with state estimations and disturbance rejections simultaneously. The
main idea is that lumped disturbances encompassing nonlinear dynamics and external …