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Artificial Immune Systems(AIS) have been widely used in different fields,such as control, robotics, computer science and multi-agent systems. In thispaper is proposed a new approach of neural immune PD type tracking controlcombining artificial immune control with neural network. It is assumed that theoutput of the helper T-cell is concerned with not only the error of system butalso its changing rate, while the output of suppressor T-cell is unknownnonlinear function with respect to the amount and changing rate of antigens andthe changing rate of antibodies, which is approximated by the output of neuralnetwork. From this, we derive neural immune PD type control law and apply it tothe trajectory tracking of DC actuating mechanism. The validity of the proposedmethod is verified by simulation and the simulation results show that thismethod can follow the desired trajectory more rapidly and more accuratelycompared to the previous method.

Study on Neural Immune PD Type Tracking Control for DC Actuating Mechanism