An Adaptive ADRC Control

for Parkinson’s Patients

By
BUVANESH PANDIAN V
RESEARCH ASSISTANT, HUTLAB
Authors : Behnam Faraji, Meysam Gheisarnejad, Maryam Yalsavar and
Mohammad-Hassan Khooban, Senior Member, IEEE.

Published at: IEEE SENSORS JOURNAL, VOL. 21, NO. 6.

Date : MARCH 15, 2021.

❖ Parkinson’s disease - A disorder of the central nervous system
that affects movement, often including tremors.
❖ It occurs in the human brain
 ADRC Control
❖ It is a type of nonlinear robust control method.
❖ It is based on extending the system model with an additional
and fictitious state variable.
❖ It representing everything that the user does not include in the
mathematical model of the robot or system or human.
 Abstract
❖ The prevalent treatments that employ for reducing the symptoms occurs in deep brain
stimulation (DBS).
❖ A sensor is located in the patient’s finger for detecting and evaluating the tremor values.
❖ Using an open-loop control structure for stimulating two areas of basal ganglia (BG),
named subthalamic nucleus (STN) and globus pallidus internal (GPi) are stimulated in a
closed-loop manner separately for
i) reducing the intensity of electric field and consequently disappearing the side
effects of DBS
ii) decreasing hand tremor.
❖ Adaptive Active Disturbance Rejection Control (ADRC) based on a deep deterministic
policy gradient (DDPG) and a conventional feedback controller are presented for
simultaneous stimulating STN and GPi.
 Parameters

Basal ganglia (BG) - Voluntary movement

Subthalamic Nucleus (STN) - Function and Storage

Globus Pallidus internal (GPi) - Control Conscious and Movement

BASIC DIAGRAM
 Overview

❖ Introduction
❖ Problems
❖ Proposed work
❖ Dynamic Model
❖ Adaptive control
❖ DDPG
❖ Parkinson’s Surgery
❖ Performance
❖ Result
 Introduction

❖ Parkinson’s disease (PD) is one of the most common diseases thats complications are in
hand and head tremors and inflexibility of muscles.
❖ One of the prevalent treatments that employ for reducing the symptoms of that is deep
brain stimulation (DBS).
❖ In practice, a sensor is located in the patient’s finger for detecting and evaluating the
tremor values of PD.
❖ Using an open-loop control structure for stimulating one area of basal ganglia (BG) is
the common approach.
 Problems for PD

❖ Normally, there is permanent cure for this treatment, only the pain will be reduced by

operation on the head.

❖ Sometimes the operation will also able to cause the brain death.

❖ Tremors cannot be cured

Steps
 Proposed work

❖ Two distinct areas of BG (i.e. GPi and STN) are stimulated by different controllers for
reducing the hand tremor and the entrancing intensity of the electrical field to the brain,
which an adaptive ADRC controller is designed for stimulating the STN, and a
conventional feedback controller is used for stimulating GPi.
❖ For the efficient performance of the ADRC scheme, its parameters should be adjusted
properly. By employing the learning ability of the actor and critic NNs of DDPG, the
ADRC parameters are designed in an adaptive manner.
❖ To further investigate the efficiency and usefulness of the ADRC based DDPG, noise
analysis, and robustness examination are performed.
Dynamic Model
Dynamic model of the BG with two different control inputs
USES OF ADAPTIVE DESIGN - ADRC

❖ Based on the aim of reducing hand tremors, side effects of DBS, and the intensity of the

electrical field, the dynamic model of BG and its elements that their communications

undergo some changes due to PD are simulated .

❖ Then, feedback is captured from the hand tremor for controlling the intensity of the

electrical field which applies to the brain based on hand tremor.

 DDPG - Deep Deterministic Policy Gradient

Deep Deterministic Policy Gradient (DDPG) is a reinforcement learning technique that

combines both Q-learning and Policy gradients.

Q-learning : To learn the value of an action in a particular state

Policy gradient : Optimizing the parametrized policies with respect to the expected return.
Deep Reinforcement Learning
DDPG Tuner Mechanism for Design of ADRC:
Real time process
Parameters
Performance of controller - health condition & disease condition
Real time simulation
Process
 Conclusion
❖ In order to suppress the tremor of PD, a BG model is adopted as a test-system for the development of
the DBS control mechanism.
❖ In particular, an adaptive ADRC scheme is developed and applied to the STN part of the BG system.
To confirm the supremacy of the adaptive ADRC scheme, the performance of the suggested adaptive
scheme in health/disease conditions is compared with some state-of-the-art such as ADRC, Ultra-local
model, and PI schemes.
❖ The simulation outcomes of the BG test-system demonstrated that the amplitude of tremor output
limited with the ADRC based DDPG scheme and indicate significant improvement in the BG system
than other designed STN controllers.
❖ The simulations curves and quantitative outcomes of the sensitivity analysis proved the supremacy of
the ADRC based DDPG scheme over other designed STN controllers to handle the severe conditions
of uncertainties and parametric variations. As future work, this study can be extended to utilize the real
world data to investigate the impacts of health interventions in the PD context.

Note: These data is gathered from a number of sources such as observations of common clinical practice,
data generated by the patient, administrative data.