Super twisting sliding mode control algorithm for developing artificial pancreas in type 1 diabetes patients

Ahmad, Sayyar; Ullah, Nasim; Ahmed, Nisar; Ilyas, Muhammad; Khan, Waqas Imran

doi:10.1016/j.bspc.2017.06.009

Cited by 70 publications

(37 citation statements)

References 20 publications

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“…The delayed action of plasma insulin on the BGC, that is, remote insulin (min −1 ) and the plasma insulin concentration (mU/L) are denoted by x 2 (t) and x 3 (t), respectively. The fourth state variable x 4 (t) stands for the Fisher's meal disturbance (mg/dl/min) 36 representing the rate of the appearance of exogenous glucose in the plasma glucose compartment. Here, the control action u(t) denotes the deviation in the exogenous intravenous insulin infusion rate (mU/L/min) around the basal insulin infusion rate which is injected in the body via insulin pump.…”

Section: Nominal Nonlinear Modelmentioning

confidence: 99%

“…p 1 representing the insulin independent glucose utilization, the value of p 1 is usually taken to be zero because of its negligible effect in T1DM patients. 9,36 The nominal values of p i , i = 2, … , 5 and their specified range of variability are provided in Table 1. 9 The system dynamics can be rewritten in its deviated states 9 as,…”

Section: Nominal Nonlinear Modelmentioning

confidence: 99%

“…These control techniques have been successfully and extensively implemented for the considered problem without addressing intrapatient variability issue explicitly in the controller design. It is worth mentioning at this stage that, only two variants of robust control techniques, namely, H ∞ control [33][34][35] and sliding mode control [36][37][38][39] were studied extensively for blood glucose control problem. The authors feel that both the design philosophy have some inherent shortcomings, like H ∞ controllers leads to a high-order fragile controller 40 while, sliding mode controller has the demerit of chattering effect giving rise to aggressive insulin infusions that may lead to hypoglycemia in T1DM patients.…”

Section: Introductionmentioning

confidence: 99%

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Robust guaranteed‐cost output feedback control of blood glucose in type 1 diabetes patient with intrapatient variability

Nath

Dey

2020

Optim Control Appl Methods

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Summary Dealing with the interpatient and the intrapatient variability in type 1 diabetes mellitus (T1DM) patient are the prominent control challenges in the development of the artificial pancreas system (APS). An APS consider a nonlinear patient model that has many state variables, but the reality is that out of the many states only glucose concentration is measurable till date without any complication and undue high cost. In the present work, the philosophy is to evolve a control technique that can address the above‐cited challenges or issues. In the sequel, a robust observer is first designed based on the attractive ellipsoid method (AEM) for norm‐bounded uncertainty structure. The information of the estimated states is then used to design a guaranteed‐cost robust output feedback control. The design methodology approximates the nonlinearity present in the model as quasi‐one‐sided Lipschitz thus including more information of nonlinearity in the design as well as the control problem is recast into a linear matrix inequality (LMI) framework. Numerical simulations of 200 virtual T1DM patients are carried out which reveal that there are no cases of hypoglycemia and postprandial hyperglycemia in the presence of bounded parametric variability and high uncertainty in exogenous meal disturbance. The proposed method is simple, efficient and optimal closed‐loop solution for blood glucose regulation in T1DM patients in a robust nonlinear framework.

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Section: Nominal Nonlinear Modelmentioning

confidence: 99%

Section: Nominal Nonlinear Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust guaranteed‐cost output feedback control of blood glucose in type 1 diabetes patient with intrapatient variability

Nath

Dey

2020

Optim Control Appl Methods

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“…25 In this work, an intravenous patient model, widely known as Bergman's minimal model, is considered, which is mostly referenced as intravenous glucose tolerance test (IGVTT) model in the literature. 26 Figure 3 shows the graphical representation of the Bergman's minimal model.…”

Section: Patient Modelmentioning

confidence: 99%

Glucose–insulin stabilization in type-1 diabetic patient: A uniform exact differentiator–based robust integral sliding mode control approach

Alam

Khan

Riaz

et al. 2019

International Journal of Distributed Sensor Networks

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Diabetes mellitus is a persistent metabolic syndrome caused by impaired capability of the body's production and usage of insulin. This impaired capability results in chronic hyperglycaemia, the elevated glucose concentration in the bloodstream, which may lead to many incurable complications. To escape this dire situation, a proper model-based exogenous infusion of insulin bolus is required, which is usually established via different feedback control strategies. In this article, the authors present a mathematical model-based robust integral sliding mode control approach for stabilization of internal glucose-insulin regulatory system in type-1 diabetic patient. Since the state variables of the system are not directly available to the controller, a uniform exact differentiator observer is employed to accomplish the aforementioned task. In the proposed control law, the incorporation of integral term in the switching manifold eliminates the reaching phase, which causes the sliding mode to establish from the very initial point, thus enhances the robustness property of the proposed control scheme. Moreover, the chattering problem is also substantially suppressed to a considerable extent along a defined manifold. To verify the theoretical analysis, the proposed control law is verified via computer simulations which demonstrate the effectiveness of the proposed control law against the external perturbations, that is, unannounced meal intake and physical exercise.

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“…The plasma glucose excursion across the either side of euglycemic range leads to hyperglycemia (when PGC > 180 mg/dl) or hypoglycemia (when PGC < 50 mg/dl) [5]. These extreme glycemic conditions, when existed for a long time, may lead to certain fatal disorders, such as cardiovascular diseases, joint diseases, and kidney failure [7], [8]. To avoid the complications as mentioned above, the infusion of exogenous insulin bolus in T1D patients is mandatory.…”

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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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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Super twisting sliding mode control algorithm for developing artificial pancreas in type 1 diabetes patients

Cited by 70 publications

References 20 publications

Robust guaranteed‐cost output feedback control of blood glucose in type 1 diabetes patient with intrapatient variability

Robust guaranteed‐cost output feedback control of blood glucose in type 1 diabetes patient with intrapatient variability

Glucose–insulin stabilization in type-1 diabetic patient: A uniform exact differentiator–based robust integral sliding mode control approach

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

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