%0 Journal Article
%T Improved immune control algorithm applied in motion control of autonomous underwater vehicle<br>改进人工免疫算法在水下机器人运动控制中的应用研究
%A PANG Yong-jie
%A TANG Xu-dong
%A <br>庞永杰
%A 唐旭东
%J 计算机应用研究
%D 2008
%I 
%X Drawn lessons from the physiological character of creature immune system and normal immune control which based on the T cell,B cell and immunological response.The normal immune control could't self-learn in real time because it ignored the memory,adapt,cell replication and natural dead in immune system.It deduced a new self-learn immune control based on the Sigmoid non-linear model by gradient search method and hill function.The simulation results in autonomous underwater vehicle motion control can prove its efficiency.
%K autonomous underwater vehicles
%K immune control algorithm
%K Sigmoid function
%K self-adapting
%K improved immune control algorithm<br>水下机器人
%K 免疫控制算法
%K Sigmoid函数
%K 自适应
%K 改进人工免疫控制方法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=A9D9BE08CDC44144BE8B5685705D3AED&aid=CB3B7141FBC54A8C153B1D6885A21B64&yid=67289AFF6305E306&vid=C5154311167311FE&iid=9CF7A0430CBB2DFD&sid=16D0D605A1E41A33&eid=E148A9F67796031C&journal_id=1001-3695&journal_name=计算机应用研究&referenced_num=0&reference_num=10