Rate-dependent Prandtl-Ishlinskii hysteresis compensation using inverse-multiplicative feedforward control in magnetostrictive Terfenol-D based actuators

Abstract

In [1], a new technique based on the rate-dependent Prandtl-Ishlinskii model (RDPI) is presented to compensate for the rate-dependent hysteresis nonlinearities effects in piezomicropositioning actuators. In this paper the validity of the proposed compensator is further examined on a magnetostrictive Terfenol-D actuator under input current amplitude of 2.3 A applied at different excitation frequencies. The simulation and experimental results show that the proposed compensator can effectively compensate for the rate- dependent hysteresis nonlinearities in a high efficient manner without formulating an inverse model.