Macro fiber composite（MFC）affords notable advantages of good flexibility，high deform ability and large actuation ability，and has been widely used in the precision engineering and active deformation control，etc. However，the actuation and positioning accuracies of the MFC actuators are reduced due to their asymmetric hysteresis nonlinearity. A Bipolar Asymmetric Improved PI（BAIPI）hysteresis model is proposed to describe the hysteresis nonlinearity of MFC actuators. The BAIPI model is composed of two parts：the weighted superposition of the play hysteresis operators based on the classical PI hysteresis model is introduced to deal with the symmetric hysteresis nonlinearity. And the asymmetric bipolar phenomenon is described by the linear superposition of many double-sides dead-zone operators with different threshold and weight values. Experimental identification results show that the hysteresis modeling error of the MFC-actuated cantilever system reduces to 4.2% using the proposed BAIPI model，while that of the PI model is 16.8%. With the feedforward compensation method based on the inverse BAIPI model，the measured tracking trajectories of the triangular wave with consistent and random amplitudes are in good agreement with the desired trajectories，and the linearity between the desired and compensated trajectories achieves 2.36%. As a result，the effectiveness and feasibility of the proposed BAIPI hysteresis model and feedforward compensation method is demonstrated.