Generalized Prandtl-Ishlinskii model for rate-dependent hysteresis: Modeling and its inverse compensation for Giant Magnetostrictive Actuator

A generalized Prandtl-Ishlinskii model is proposed for characterizing rate-dependent hysteresis of Giant Magnetostrictive Actuator (GMA). A generalized play operator with rate-dependent envelope function is integrated into generalized Prandtl-Ishlinskii model to describe the rate-dependent effects of GMA. Good agreements are shown between simulation results and experimental data including major and minor hysteresis loops. Furthermore, an inverse of proposed model is given and implemented as a feedforward compensation controller. The validity of the compensation is examined by experiments of tracking control for GMA.