Research on the Immune Control of Two-Wheeled Robot

This paper studies and analysis the main physiological of the biological immune system—— acquired immune response. Immune optimization principle and immune feedback principle are proposed based on acquired immune response process. The immune control is combined with switching control in this paper. Simulation results show that the conventional switching controller can trace the given signal, and has robustness. After the immune feedback was introduced, the buffeting of the conventional switching controller was inhibited obviously. The dynamic quality and the control performance of the system were improved.