This paper focuses on the dynamic shape control theory of the flexible cantilever structure driven by the macro fiber composite actuator (MFC). Based on the finite element method, homogenization theory and load analogy method, the mechanical-electrical coupling dynamic equation of the piezoelectric driven laminated structure is established, and the state space control model is obtained by combining the modal reduction method. At the same time, in view of the serious influence of the nonlinear characteristics of the hysteresis creep of the piezoelectric actuators on the control accuracy, the research on the hysteresis-creep modeling and the feedforward inverse compensation control method based on the experimental data was carried out. Furthermore, the composite control system of the hysteresis-creep feedforward compensation and the active disturbance rejection feedback control for the dynamic shape control of the piezoelectric driven flexible structure is constructed. The calculated example shows that the composite control method can effectively improve the accuracy of dynamic shape control of the system on the premise of ensuring the stability of the system.