Active disturbance rejection control for piezoelectric cantilever beam with time delay

This Letter presents an active control method for the vibration of piezoelectric structures. First, a controller based on nonlinear extended state observer is designed to improve the disturbance rejection capability of the vibration structure. Additionally, an improved nonlinear active disturbance rejection control (IMNADRC) method is combined with Smith predictor for time delay compensation, resulting in Smith predictor-based IMNADRC. Finally, numerical simulations and experiments are carried out for active vibration suppression of piezoelectric beam under fixed harmonic excitation and variable harmonic excitation, respectively. The results show that the proposed method has good control effect on structural vibration suppression and is highly adaptable to various external excitations.