In order to deal with the problem of severe vibration of pantograph and catenary system under high-speed train operation and improve the current collection quality of pantograph-catenary, a composite controller based on model predictive control ( MPC ) and disturbance feedforward compensation is proposed to reduce the fluctuation of pantograph-catenary contact force. Firstly, based on the linearized pantograph-catenary system, a model predictive controller based on particle swarm optimization ( PSO ) is designed to optimize the fluctuation of pantograph-catenary contact force. Secondly, a generalized extended state observer ( GESO ) is constructed to estimate the unmeasurable state in the pantograph-catenary system and compensate the model uncertainty. Finally, the simulation verifies that the designed controller can effectively reduce the fluctuation of the contact force under the condition of considering the model uncertainty.