Simultaneous model predictive control and moving horizon estimation for blood glucose regulation in Type 1 diabetes. (14th December 2017)

• Record Type: Journal Article
• Authors: Copp, David A.; Gondhalekar, Ravi; Hespanha, João P.
• Other Names: Chachuat Benoît guestEditor.; Sager Sebastian guestEditor.
• Is Part Of: Optimal control applications and methods. Volume 39:Number 2(2018)
• Page Start: 904
• Page End: 918
• Publication Date: 2017-12-14
• Subjects: artificial pancreas -- control of constrained systems -- model predictive control -- moving horizon estimation -- optimal control -- optimal estimation -- output‐feedback control; Control theory -- Periodicals; Mathematical optimization -- Periodicals; 629.8312
• DOI: 10.1002/oca.2388
• Languages: English
• ISSNs: 0143-2087

Abstract

Summary: A new estimation and control approach for the feedback control of an artificial pancreas to treat Type 1 diabetes mellitus is proposed. In particular, we present a new output‐feedback predictive control approach that simultaneously solves the state estimation and control objectives by means of a single min‐max optimization problem. This involves optimizing a cost function with both finite forward and backward horizons with respect to the unknown initial state, unmeasured disturbances and noise, and future control inputs and is similar to simultaneously solving a model predictive control (MPC) problem and a moving horizon estimation (MHE) problem. We incorporate a novel asymmetric output cost to penalize dangerous low blood glucose values more severely than less harmful high blood glucose values. We compare this combined MPC/MHE approach to a control strategy that uses state‐feedback MPC preceded by a Luenberger observer for state estimation. In‐silico results showcase several advantages of this new simultaneous MPC/MHE approach, including fewer hypoglycemic events without increasing the number of hyperglycemic events, faster insulin delivery in response to a meal consumption, and shorter insulin pump suspensions, resulting in smoother blood glucose trajectories.