Active disturbance rejection vibration control for an all-clamped piezoelectric plate with delay

Li Shengquan*, Zhu Chaowei, Mao Qibo, Su Jinya, S Li Juan

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

37 Citations (Scopus)


All-clamped plate structures are usually subject to strong coupling, model uncertainties and system time-delay. To address these challenges, this work proposes a novel vibration control method based on a linear active disturbance rejection controller (LADRC) with time-delay compensation (TDC-LADRC). The mathematical model of the piezoelectric plate is first established based on system identification with an auxiliary variable method. Then ADRC is designed for the delay-free part by a smith predictor with a novel differentiator. An extended state observer (ESO) is drawn to estimate the internal and external disturbances, such as mode errors, higher harmonics and external environmental excitations. Then, real-time compensation is introduced via feedforward mechanism to attenuate their adverse effects, so that optimal vibration suppression performance can be achieved by the proposed controller. Finally, based on NI-PCIe6343 acquisition card, an experimental setup is designed to verify and compare the performance of the proposed TDC-LADRC against the traditional LADRC and the traditional predictor based LADRC (PLADRC). Comparative experimental results show that the proposed TDCLADRC possesses the best disturbance rejection and vibration suppression performance.

Original languageEnglish
Article number104719
Number of pages11
JournalControl engineering practice
Early online date5 Jan 2021
Publication statusPublished - 1 Mar 2021

Bibliographical note

This work was supported in part by the National Natural Science Foundation of China (Grant nos. 61773335, 61903322, 51975266), Natural Science Foundation of Jiangsu Province, China (Grant no. BK20171289), State Key Laboratory of Mechanics and Control of Mechanical Structures, China (Grant No. MCMS-E-0520G01), Six Talent Peaks Project in Jiangsu Provincial, China (Grant no. KTHY2018038), the Natural Science Foundation of Yangzhou City for Outstanding Young Scholars, China (Grant no. YZ2017099).


  • All-clamped piezoelectric plate
  • Linear active disturbance rejection control (LADRC)
  • Extended state observer (ESO)
  • Active vibration suppression
  • System delay


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