Fuzzy Control Solution for Telesurgical Applications

This paper presents a fuzzy control solution for telesurgical applications aiming to alleviate the effects of large latencies in the context of remote telesurgical robotics. The functional blocks of the system are introduced in detail. The fuzzy control solution is supported by a cascade control system structure with two proportional-integral-derivative (PID) controllers in the inner and outer control loops. The Extended Symmetrical Optimum method is employed to tune both PID controllers. The PID controller in the outer loop is next replaced by Takagi-Sugeno PID fuzzy controllers, which combine several separately designed PID controllers. The combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Takagi-Sugeno PID-fuzzy controllers. A case study supported by digital simulation results is elaborated to validate the new fuzzy control solution.