Modeling, identification and feedforward control of multivariable hysteresis by combining Bouc-Wen equations and the inverse multiplicative structure

This paper deals with the modeling, identification and feedforward control of hysteresis found in multi-degrees of freedom (DOF) piezoelectric actuators. One main characteristic of the considered hysteresis behavior is the strong couplings. To express such multivariable hysteresis, we propose to extend the previous Bouc-Wen hysteresis monovariable model used for 1-DOF actuators. Then we propose to combine the resulting multivariable model with the inverse multiplicative structure in order to derive a multivariable compensator that suppresses the direct and the coupling hysteresis. Experimental tests on a piezotube scanner demonstrate the efficiency of the proposed approach.