Modeling and control with hysteresis and creep of ionic polymer-metal composite (IPMC) actuators

Hysteresis and creep hinder the effective use of IPMC in sensors and actuators. This paper proposes a hybrid model that can precisely portray hysteresis and creep in piezoelectric actuators, which is constructed by a Preisach operator with a piecewise uniform density function and creep operator. Then, the corresponding inverse models for both hysteresis and creep are developed. It studies online recursive identification of hysteresis and creep drift. Based on the obtained models, a method for simultaneous compensation of the hysteresis and creep of piezoelectric actuator is applied to the control of system nonlinearities. Simulation and experimental results based on a IPMC actuator are provided to illustrate the proposed approach. The result verified the validity of the model and effectiveness of the controller.