Super twisting control algorithm for blood glucose regulation in type 1 diabetes patients

In diabetes mellitus, the efficient alleviation of hyperglycemia, an elevated glycemic concentration, is quite crucial to avoid persistent complications. Thus, it is of prime importance to have an automated closed-loop insulin delivery system, often termed as an artificial pancreas, in the patient's body. The requisite amount of exogenous insulin bolus must be determined by a control algorithm, which is the primary constituent of the closed-loop system. In this article, a finite-time synergistic control approach, based on a gain-scheduled Luenberger observer (GSLO), is introduced. The proposed control strategy establishes a closed-loop insulin delivery system, which confirms the glycemic regulation that is quite obligatory in type-1 diabetic (T1D) patients. The control law is synthesized by using a recursive backstepping with a sliding mode control (SMC) approach. Besides, the nonlinear terms are incorporated, in the pseudo control inputs, which provide the finite-time convergence of the system's trajectories. Since the proposed control law relies on the system's information, thus, a virtual patient simulator, presented by Bergman minimal model (BMM), is transformed into an equivalent dynamic structure, which facilitates the design of GSLO. The observer's gains, which modify in each iteration, are based on the updated values of the system's states. Also, it endorses the separation principle, thus proving the closed-loop system's stability. The proposed closed-loop insulin delivery system confirms the suppression of postprandial hyperglycemia and hypoglycemic events in T1D patients. The efficacy is demonstrated via in-silico testing, which is executed in MATLAB/Simulink environment. INDEX TERMS Gain-scheduled Luenberger observer, glucose-insulin stabilization, recursive backstepping method, sliding mode control approach, closed-loop insulin delivery system, Bergman minimal model, external disturbances, controllable canonical system.

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“…where ∇ T φ i (ξ ) ∈ 3 represents the gradient of φ i (ξ ) with respect to ξ . Substituting (28) in (29), the following expression is obtained as…”

Section: Gain-scheduled Luenberger Observer (Gslo)mentioning

confidence: 99%

“…However, the stability of internal dynamics was not confirmed. Conventional and Super twisting-based SMC algorithms are employed for plasma glucose regulation in T1D patients [7], [29]. However, the manipulated input remains out of the feasibility bound.…”

Section: Introductionmentioning

confidence: 99%

Gain-Scheduled Observer-Based Finite-Time Control Algorithm for an Automated Closed-Loop Insulin Delivery System

et al. 2020

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“…Systematic reviews on current and emergent control strategies for robotic manipulators are reported in [81]- [83]. Since the last three decades, industrial processes have been classically controlled based on linear control laws [84]. Proportional Integral Derivative (PID) implementation of AUTAREP is reported in [85] while Linear Quadratic Regulator is presented in [86].…”

Section: B Controlmentioning

confidence: 99%

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

et al. 2019

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The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry. The multi-disciplinary nature of robots offers precision, repeatability, reliability, productivity and intelligence, thus rendering their services in diversified tasks ranging from manufacturing, assembling, and installation to inspection and maintenance of renewable resources. This paper explores applications of real robots in four feasible renewable energy domains; solar, wind, hydro, and biological setups. In each case, existing state-of-the-art innovative robotic systems are investigated that have the potential to create a difference in the corresponding renewable sector in terms of reduced set-up time, lesser cost, improved quality, enhanced productivity and exceptional competitiveness in the global market. Instrumental opportunities and challenges of robot deployment in the renewable sector are also discussed with a brief case study of Saudi Arabia. It is expected that the wider dissemination of the instrumental role of robotics in renewable energy will contribute to further developments and stimulate more collaborations and partnerships between professionals of robotics and energy communities.INDEX TERMS Applied robotics, automation in renewable energy, mobile robots, robotic manipulators, solar PV module, wind turbines.

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“…There are several previous studies regarding healthcare robotics. As implemented in the Polyclinic of Modena (Italy) [6], Humanoid companion robot for patients [7], assistive robot [8]- [11], end-effector wheeled robotic arm [12], automation and control system in medical sector [13]- [15], and also a robot with a rehabilitation function and motion assitance [16]- [23]. In addition, there are also robots with slightly different goals, namely to disinfect the environment using UV light which can also be applied for healthcare purposes [24].…”

Section: Introductionmentioning

confidence: 99%

The development of healthcare mobile robot for helping medical personnel in dealing with COVID-19 patients

Budiyanta

Wijayanti

Widodo

et al. 2021

IJEECS

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<span lang="EN-US">Coronavirus disease (COVID-19) pandemic has succeeded in shaking the whole world. This situation requires medical personnel to work extraordinarily to treat COVID-19 patients with very high risk of transmission. For this reason, this study aimed to helping medical personnel handle COVID-19 patients through robotic technology. The development method in this study is proposed as a way to develop robots to serve patients in isolation rooms controlled at a distance away from other rooms. From technical testing, the movement of the robot with a load of 12.59 kg only experienced a speed slowdown which was not too significant, namely at 0.43s with an average percentage of slowdown of 8.96%. The accuracy of the proximity sensor testing is close to perfect with an accuracy percentage of 99.62%. The robot control distance was monitored and running well. Also, the increase in motor temperature is not too large, supported by measurement results of 32.13%. From non-technical testing, based on the test results of the feasibility test of all respondents with 25 indicators reached a feasibility level of 91.46%. In other words, healthcare mobile robots developed for helping medical personnel in dealing with COVID-19 patients are very feasible to be applied in hospitals.</span>

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Super twisting control algorithm for blood glucose regulation in type 1 diabetes patients

Cited by 8 publications

References 18 publications

Gain-Scheduled Observer-Based Finite-Time Control Algorithm for an Automated Closed-Loop Insulin Delivery System

Gain-Scheduled Observer-Based Finite-Time Control Algorithm for an Automated Closed-Loop Insulin Delivery System

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

The development of healthcare mobile robot for helping medical personnel in dealing with COVID-19 patients

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