Data-Driven Robust Control for a Closed-Loop Artificial Pancreas

We present a fully closed-loop design for an artificial pancreas (AP) that regulates the delivery of insulin for the control of Type I diabetes. Our AP controller operates in a fully automated fashion, without requiring any manual interaction with the patient (e.g., in the form of meal announcements). A major obstacle to achieving closed-loop insulin control are the "unknown disturbances" related to various aspects of a patient's daily behavior, especially meals and physical activity. Such disturbances can significantly affect the patient's blood glucose levels. To handle such uncertainties, we present a data-driven, robust, model-predictive control framework in which we capture a wide range of individual meal and exercise patterns using uncertainty sets learned from historical data. These uncertainty sets are then used in the insulin controller to achieve automated, precise, and personalized insulin therapy. We provide an extensive in silico evaluation of our robust AP design, demonstrating the potential of the approach. In particular, without the benefit of explicit meal announcements, our approach can regulate glucose levels for large clusters of meal profiles learned from population-wide survey data and cohorts of virtual patients, even in the presence of high carbohydrate disturbances.