Fractional Order Modeling and Control of a Carrier Prototype for Targeted Drug Delivery

Abstract

This paper tackles the field of applied control engineering in the nanomedical field, both in terms of modeling and control of the dynamics of a scalable robot transiting a vascular environment. An experimental fractional order model is obtained that describes the dynamics of the robot inside a secluded part of the circulatory system in terms of velocity profile and position. The submersible has concentration sensing capabilities and when a difference is detected in the liquid's concentration, a Fractional Order Proportional Integrative (FOPI) controller is used to control the robot's velocity and position inside the vascular homology. The work is based on experimental data acquired from a dedicated platform designed and built to echo environmental traits of the circulatory system for analysis and control purposes.