A Model-Based Feedforward Hysteresis Compensator for Micropositioning Control

Further results on hysteresis compensation using the inverse multiplicative structure of the rate-dependent Prandtl-Ishlinskii (RDPI) model are presented. The proposed model-based feedforward controller is used to compensate for the hysteresis nonlinearities at different operating conditions without formulating the inverse model. The study investigates the compensation error and parameters uncertainties when the proposed compensator is applied for compensation of the rate-dependent hysteresis nonlinearities. The compensation results show that better performance can be achieved with low sampling time. The proposed compensator is further examined in a closed-loop control system to improve the tracking performance of a piezoelectric cantilevered actuator.