Improved immune control algorithm applied in motion control of autonomous underwater vehicle
改进人工免疫算法在水下机器人运动控制中的应用研究

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.