Implementation of Feedforward and Feedback Control for Active Handling and Dribbling System in MSL Robot Soccer

Fernando Ardilla, Muhammad Irfan Mas'udi, Iwan Kurnianto Wibowo


Ball handling and dribbling are basics soccer techniques. Therefore, handling and dribbling mechanism becomes important component for MSL (Middle Size League) robot soccer. The implementation of active handling and dribbling systems aims to enable the robot to perform dribbling mechanism when maneuvering, while in idle position use handling mechanism. Feedforward and feedback applied as control method in active ball handling and dribbling system. Feedforward control method will give a response to the dribbler wheel based on the motion of robot movement against x, y, and θ axes. Whereas, Feedback control method applied fuzzy inference system by reading the displacement of the arm angle from sensor databased on angle reference of dribbler arm to keep the ball in an ideal position. Implementation geometric calculation for feedforward control toward x, y, and θ axes movement of the robot that it has resulted RMSE value for left motor is 5.75 and for right motor is 7.01. Fuzzy inference system method is used as a feedback control to manipulate the speed and direction of wheel’s rotation as a result ball remains in the ideal position. The value of arm angle displacement and the combination of the two-dribbler arms are used as input for fuzzy inference system. The results of this research show that the application of the combined feedforward and feedback control methods in active handling and dribbling systems can provide robot-dribbling capabilities. Consequently, the robot has a good ability in handling and dribbling mechanism.


ball handling; dribbling system; feedforward control; feedback control; middle size robot soccer.

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