Internal model-based feedback control design for inversion-free feedforward rate-dependent hysteresis compensation of piezoelectric cantilever actuator

This study proposes a new rate-dependent feedforward compensator for compensation of hysteresis nonlinearities in smart materials-based actuators without considering the analytical inverse model. The proposed rate dependent compensator is constructed with the inverse multiplicative structure of the rate-dependent PrandtlIshlinskii (RDPI) model. The study also presents an investigation for the compensation error when the proposed compensator is applied in an open-loop feedforward manner. Then, an internal model-based feedback control design is applied with the proposed feedforward compensator to a piezoelectric cantilever actuator. The experimental results illustrate that the proposed feedforward-feedback control scheme can be used in micro positioning motion control applications to enhance the tracking performance of the piezoelectric cantilever actuator under different operating conditions. (C) 2017 Elsevier Ltd. All rights reserved.