This paper focuses on the control of multi-input multi-output (MIMO) over-actuated systems with unknown output disturbances and partially unknown dynamics. Our proposed solution integrates model predictive control (MPC) and active disturbance rejection control (ADRC) methodologies, offering a unified solution tailored to the specific demands of over-actuated constrained systems. We demonstrate the effectiveness of the proposed approach through comprehensive simulation results and also provide proof of the intervals that guarantee the convergence, feasibility, and BIBO stability of the method. Notably, our approach outperforms conventional output-feedback MPC, resulting in better performance in terms of noise reduction and reference tracking accuracy.
