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Piezoelectric actuators are widely used in micromanipulation and miniature robots due to their rapid response and high repeatability. The piezoelectric actuators often have undesired hysteresis. The Prandtl-Ishlinskii (PI) hysteresis model is one of the most popular models for modeling and compensating the hysteresis behaviour. This paper presents an alternative digitized representation of the modified Prandtl-Ishlinskii with the dead-zone operators (MPI) hysteresis model to describe the asymmetric hysteresis behavior of piezoelectric actuators. Using a binary number with n digits to represent the classical Prandtl-Ishlinskii hysteresis model with n elementary operators, the inverse model can be easily constructed. A similar representation of the dead-zone operators is also described. With the proposed digitized representation, the model is more intuitive and the inversion calculation is avoided. An experiment with a piezoelectric stacked linear actuator is conducted to validate the proposed digitized MPI hysteresis model and it is shown that it has almost the same performance as compared to the classical representation.

A Digitized Representation of the Modified Prandtl–Ishlinskii Hysteresis Model for Modeling and Compensating Piezoelectric Actuator Hysteresis