Research for soccer nonlinear PID algorithm based on HSIC

The paper has illustrated the present situation of the soccer, and has analysed the characteristics of PID control algorithm. This paper has applied the HSIC theory and methods, and has improved the nonlinear PID controller. This paper has built the new time-slice concept for Microsoft´s robot soccer platform, and has realized the optimal control process of turn-corner and to-point function for the robot soccer platform based on Microsoft Robotics Studio. The simulation experiment has proved that the nonlinear PID controller to being improved is more effective.