Nonlinear ESO-based vibration control for an all-clamped piezoelectric plate with disturbances and time delay: Design and hardware implementation

Shengquan Li*, Luyao Zhang, Chaowei Zhu, Jinya Su, Juan Li

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


Considering the problems of model uncertainties, higher harmonics, uncertain boundary conditions, external excitations, and system time delay in practical vibration control system, a novel active vibration control method is proposed to suppress the vibration of a thin plate structure with acceleration sensor and piezoelectric bimorph actuator in this paper. First, a nonlinear extended state observer (NESO)-based controller is designed to ensure the anti-disturbance performance of the structural vibration control system. Then, an enhanced differentiator-based time delay compensation method is introduced to improve the vibration suppression performance of the NESO-based controller. A real time hardware-in-the-loop benchmark for an all-clamped piezoelectric thin plate is designed to verify and compare the performance of the developed controller against conventional ESO-based methods (linear ESO with/without time delay compensation, NESO without time compensation). The best vibration suppression and disturbance rejection performance of the proposed NESO-based controller with an enhanced time delay compensator is verified in the comparative experimental results. This work is able to provide practitioners with vital guidance in designing active vibration control system in the presence of disturbances and time delay.

Original languageEnglish
Number of pages15
JournalJournal of intelligent material systems and structures
Issue number8
Early online date17 Mar 2022
Publication statusPublished - 1 Nov 2022

Bibliographical note

The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported in part by the National Natural Science Foundation of China (Grant nos. 61903322, 61773335), State Key Laboratory of Mechanics and Control of Mechanical Structures (Grant No. MCMS-E-0520G01), Six Talent Peaks Foundation of Jiangsu Provincial (Grant no. KTHY2018038).


  • Nonlinear extended state observer (NESO)
  • active vibration control
  • all-clamped thin plate structure
  • piezoelectric actuator
  • time delay
  • experimental comparison


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