Fusion of Feedforward and Feedback Control Using Fuzzy for Active Handling and Dribbling System in MSL Robot Soccer

This paper describes the fusion of feedforward and feedback control for active handling and dribbling ball mechanism which is designed for dribbling system in the RoboCup Middle Size League implemented in ERSOW (EEPIS Robot Soccer on Wheels). Handling and dribbling are some basic variations of techniques in Middle Size League robot soccer. Combining feedforward and feedback control on active handling and dribbling systems aims to enable the robot to handle the mechanism while it is idle and dribbling mechanism when the robot moves. When the robot moves, the use of feedforward control on the dribbling mechanism will provide a response in the form of speed and direction of the dribbler wheel based on the movement of the robot to the x, y, and θ axes. The average RMSE feedforward control results on the left motorbike are 5.75. While the right motor has a RMSE value of 7.01. Then, when the robot is idle, the fuzzy inference system method is used as a feedback control to manipulate the speed and direction of rotation of the wheel so that the ball remains in the ideal position. The value of arm angle displacement and the combination of the two dribbler arms are used as input from the fuzzy inference system. The results of this paper 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 ball stays in contact with the robot when the robot is handling the ball while immobile, driving forwards, backwards and rotating.