Modeling and Control with Hysteresis of Piezoelectric Smart Materials Actuators

Hysteresis hinders the effective use of piezoelectric smart materials in sensors and actuators. This paper proposes a hybrid model that can precisely portray hysteresis in piezoelectric actuators, which is constructed by a preisach operator with a piecewise uniform density function. Then, the corresponding inverse model for hysteresis is developed. It studies online recursive identification of hysteresis drift. Based on the obtained models, a method for simultaneous compensation of the hysteresis of piezoelectric actuator is applied to the control of system nonlinearities. Simulation and experimental results based on an IPMC actuator are provided to illustrate the proposed approach. The result verified the validity of the model and effectiveness of the controller.