Distributed self―sensing piezoelectric actuators provide a perfect collocation of sensors and actuators in closed―loop structural controls. To achieve independent control of various natural modes, spatially distributed self―sensing orthogonal piezoelectric actuators are proposed in this study. A generic spatially shaped orthogonal sensor/actuator theory is derived first, followed by an application to a Bernoulli―Euler beam. Spatially distributed orthogonal sensors/actuators are designed based on the modal strain functions and they are fabricated using a 40μm piezoelectric polymer. A cantilever beam laminated with these self―sensing orthogonal piezoelectric actuators is tested. Collocated independent modal control of the cantilever beam with spatially distributed self―sensing orthogonal actuators is demonstrated and control effectiveness studied.
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