Tracking control of a piezo-actuated compliant mechanism based on an improved Bouc–Wen hysteresis model with variable parameters

To deal with the challenges that classical Bouc–Wen model fails to precisely characterize amplitude-dependent hysteresis and asymmetric hysteresis, an improved variable parameters is presented. The proposed introduces terms parameter functions related sinusoidal excitation amplitudes into model. It has a relatively simple mathematic form can be easily identified applied for inverse feedforward compensation in real-time applications. By comparison other existing models, superiority of been verified. Furthermore, control hybrid combining developed proportional-integral feedback are proposed. Several comparative experiments conducted on piezo-actuated micro-scanner. Results demonstrate using achieve better tracking performance meaningful actual trajectory-tracking