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 Prandtl-Ishlinskii (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.