Optimal Compensation of Bouc-Wen model hysteresis using square dither

In this paper, we have studied actuator hysteresis compensation using dither input for robotics and automation systems. To mathematically model hysteresis, we have used the Bouc-Wen model, which is common in engineering fields, to represent the nonlinear behavior of hysteresis. We have used square dither to reduce nonlinear distortion caused by system actuator hysteresis. Under the control system is an integrator and the controller is a proportional type. We have reached an optimum hysteresis control by minimizing a cost function, including all required parameters. According to simulation results, we have shown that tracking will be performed well with appropriate amplitude and frequency of square dither.