J Appl Biomater Funct Mater 2017; 15 (Suppl 1): S31-S37 ORIGINAL RESEARCH ARTICLEmodel to compensate complex hysteresis of the MSMA actuators. The valid proportional-integral controller was adopted in this paper. Experimental results prove that tracking error of the hybrid control was reduced by 60% compared to the feedforward control. Ping and Jouaneh (7,8) proposed a classical Preisach model as a controller for the hysteresis nonlinearity compensation of the piezoelectric actuators. A hybrid control consisting of proportional-integral-derivative (PID) feed-back control and feed-forward control was adopted to further increase the positioning precision. Experimental results demonstrate that the maximum error of the hybrid control was reduced by 50% compared to the general PID control. Wang et al (9) proposed an inverse MPI model as a controller to increase the positioning accuracy of the piezoelectric actuators. Simulation results show that the positioning accuracy was doubled when the controller was introduced to compensate the intricate nonlinearity. Song et al (10) employed the inverse classical Preisach model as a controller to eliminate complex hysteresis of piezoelectric ceramic actuators for real-time control. Simulation results show that the error decreased by 50% to 70% when the hysteresis compensation was added to the feed-forward control. Feng et al (11) designed a robust adaptive controller based on the Duhem model to describe the severe hysteresis nonlinearity. Experimental results prove that the controller could effectively eliminate the nonlinearity. Ru et al (12) proposed an effective mathematical model to compensate
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