The invention discloses a self-adaptive optical fiber coupler or collimator control system capable of bilaterally receiving and transmitting laser beams. The self-adaptive optical fiber coupler or collimator control system comprises a coupling or collimating lens, a connecting sleeve, an optical fiber end face positioner, a first optical fiber, a three-port optical fiber circulator, a second optical fiber, a third optical fiber, a laser, a photoelectric detector, a control platform and a high-voltage amplifier, wherein the optical fiber end face positioner comprises a flexible crossed beam, a bimorph driver, a damping material, a boss and a fixed seat. Due to the adoption of the self-adaptive optical fiber coupler or collimator control system, the light beam arriving angle errors caused by factors such as atmosphere turbulence, mechanical vibration, thermal distortion and the like can be corrected adaptively; and meanwhile, according to the reversibility principle of a light path, the transmitting angle correction of emitted collimating light beams is also realized. The self-adaptive optical fiber coupler or collimator control system has an important application prospect in the field of optical fiber-based laser space application, such as free space laser communication, laser precise positioning and laser radar.