Abstract: To study the effect of the micro vibration on the spacecraft payloads, a multi-DOF micro-vibration generation system based on the Hexapod platform is designed. Compared with the traditional control algorithm which can not meet the precision requirements in the micro-vibration generation, the adaptive control algorithms have unique advantages in dealing with such problems. But the adaptive control algorithms are limited in the engineering applications with the introduction of the stability condition because of the phase lag in the controlled objects. By using the technique of the linear active disturbance rejection, an active disturbance rejection with the adaptive control algorithm is proposed to meet the demand. In the new controller, the phase lag is treated as an inner disturbance, and both the internal and external disturbances are observed and compensated with the use of an extended state observer. Then the adaptive algorithm is adopted for the recurrence of the reference signals at the output. The simulation and experimental results obtained from the Hexapod multi-DOF micro-vibration generation system show that the new controller is effective in realizing the sine micro-vibration signal replication in the low frequency region with a high precision, which manifests its practical engineering value.