Robert L. Clark
Jeffrey S. Vipperman
Dept. of Mech. Eng. and Mater. Sci., Duke Univ., Durham, NC 27708-0300
Both transient and persistent disturbance rejection were demonstrated experimentally on a cantilevered beam configured with a piezoelectric sensoriactuator. The transient response of the system was suppressed through direct-rate feedback control, and adaptive feedforward control was utilized to minimize the response to a harmonic input disturbance. A time-averaged gradient descent algorithm was implemented to adapt a finite impulse response filter in the feedforward control approach. Experimental results demonstrate that rate-feedback control can be utilized to enhance the transient adaptation of the feedforward control algorithm. Furthermore, the sensoriactuator provides a convenient method of performing both sensing and actuation simultaneously in feedback and feedforward control of adaptive structures.