Inverse generalized asymmetric Prandtl-Ishlinskii model for compensation of hysteresis nonlinearities in smart actuators

Smart actuators, such as magnetorestrictive actuators, shape memory alloy (SMA) actuators, and piezoceramic actuators, generally exhibit symmetric and asymmetric hysteresis loops. In this paper, a generalized Prandtl-Ishlinskii model with an asymmetric play operator is utilized for describing asymmetric hysteresis nonlinearities in smart actuators. Furthermore, a corresponding inverse of the asymmetric Prandtl-Ishlinskii model is presented as a compensator for the purpose of removing the hysteresis effects in the control systems. Such a compensation is experimentally illustrated by a piezoceramic actuator.