Feed-forward compensation of hysteresis compliance using inverse Preisach model

Abstract

Hysteresis compliance arises from elasto-plastic properties in mechanical systems and represents a strict nonlinearity with a memory effect, which handicaps the predictability of the state trajectories and the system controllability in general. This paper presents an inverse model approach for feed-forward compensation of hysteresis compliance. The hysteresis compliance of an electro-mechanical system with elasticities is modeled by means of a well-known Preisach formalism. The model specific Preisach density function is identified from an appropriate drive experiment, which provides a set of major and minor hysteresis loops. The inverse Preisach model is attained using the inverse function derivative and the first order Taylor expansion at working point. The efficiency of proposed inverse model approach is shown in the simulation and affirmed with experiments. The presented control strategy is well suitable for a broad class of hysteresis phenomena independent their cause-effect relationship.