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