Compared to conventional piezoceramics， marco fiber composites （MFC） offers excellent advantages of high deformation abilities and energy transducing efficiencies. MFC actuators have been widely used in deformation control and bionic actuation of flexible structures. A rate-dependent bipolar bias PI （RDBBPI） hysteresis model is presented to describe the dynamic hysteresis nonlinearity of MFC actuators， and feedforward compensation control based on the proposed RDBBPI model is also conducted. The classical PI model is used to describe the symmetric hysteresis behavior of the MFC-actuated flexile structure. A series of dead-zone operators is superposed to the PI model to capture the bipolar bias nonlinearity. Accordingly， a quasi-static bipolar bias PI hysteresis model is presented. Then， the linear relationship between slope of the hysteresis loop and velocity of the driving voltage is established. The RDBBPI hysteresis model for the dynamic hysteresis of MFC actuators is obtained. Experimental results show that the proposed RDBBPI model is capable of describing the dynamic hysteresis behavior of the MFC-actuated flexible structure， under different actuation frequencies. With the compensated controller based on the RDBBPI model， measured vibration displacements of the flexible structure match well with the desired tracking trajectories. The compensated linearity error between the actual trajectory and the desired one is only 4.62%. Therefore， the feasibilities of the proposed RDBBPI hysteresis model and feedforward compensation method are demonstrated.