Smart actuators such shape memory alloy (SMA) actuators and piezoceramic actuators exhibit different hysteresis loops. In this paper, a generalized Prandtl-Ishlinskii model is utilized for modeling and compensation of hysteresis effects in smart actuators. In the formulated model, a generalized play operator together with a density is integrated to form the generalized Prandtl-Ishlinskii model. The capability of the formulated model to characterize hysteresis in smart actuators is demonstrated by comparing its outputs with experimental results obtained from different smart actuators. Furthermore, an analytical inverse of the generalized Prandtl-Ishlinskii model is derived for compensations in different smart actuators. Such compensation is experimentally illustrated by piezoceramic actuator.

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