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

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.