Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

摘要

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When this technology is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in the case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller must perform well in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft). In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller (AFLC) is designed in this paper. It simulates human intelligence and adapts to environments of different stiffness coefficients. The simulation results prove that this controller demonstrates very interesting potential.