To enhance precision control of piezoelectric actuator, this paper proposes an active disturbance rejection repetitive control (ADRRC) method. Firstly, the dynamic model of piezoelectric drive system is formulated. Then, an output feedback integral controller and a plugin repetitive controller are merged into the linear active disturbance rejection control (LADRC). One kind of ADRRC strategy is proposed, which has capabilities of step, ramp and periodic signal tracking/suppression. Furthermore, the stability of the closed loop system and the design method of the control system are analyzed by using the smallgain theorem. Finally, the proposed method is applied to the piezoelectric actuator system. Experimental results show that the proposed method can achieve better control performance than LADRC method. In addition, the method can track and reject many kinds of external signals with high precision.