Robust Predictive Position Control of Drug Delivery Mechanism

A new robust predictive control strategy is proposed for the position control of the drug delivery mechanism. Firstly, based on the dynamic model of the drug delivery mechanism, a generalized predictive position controller is designed. Then, on the basis of the designed generalized predictive position controller, the sliding mode compensation structure is added, which not only ensures the fast dynamic response of the original generalized predictive controller, but also suppresses the influence of the disturbance on the system. The simulation model of the control system of the drug delivery mechanism is built and the simulation analysis is carried out in the case of no drug and drug respectively. The results show that compared with PID control, the proposed control strategy has higher position control accuracy and stronger robustness.