Fuzzy logic control of a continuum manipulator for surgical applications

This paper presents a recent study on robotic control of a continuum manipulator. In view of nonlinear dynamic characteristics of its model, we propose a fuzzy logic controller that is designed based on state-feedback control of the system linearizations. First, a unified kinematic model and the Jacobi-ans are described. Then, we derive the state-space model form and linearize it at six operating points. Next, we design a controller for each linearized local model. Last, a fuzzy logic methodology is utilized to smoothly blend the six designed local controllers. The proposed controller is verified in MATLAB simulation and manipulator tip is autonomously navigated to the designated target. Besides, a comparison result for the optimized controller and the non-optimized counterpart is presented.