Fuzzy Logic Implementation to Improve the Accuracy of Ball Shoots on ERSOW’s Soccer Robot

This research aims to improve the quality of kicks on the ERSOW robot and bring the team closer to success in national and international wheeled soccer competitions. The focus is to increase the accuracy of kicks to pass to fellow teams or kick towards the goal. Adding a voltage sensor to the capacitor charging process allows this closed-loop system to be controlled more precisely. Furthermore, the PWM value given will be adjusted to the expected kick power and the capacitor's contents. A fuzzy logic controller will be used to control the entire kicking system. The fuzzy logic controller input is the angle of the ball kick and the distance the ball falls. This results in the force of the kick, the ball passing through the opponent, and the ball going to the appropriate point. The result is a robot kick with maximum PWM requires an average current of 52.5 A and a peak power of up to 19306.7 Watts. With this maximum kick, it takes 9 seconds for the capacitor to be fully charged at a voltage of 450 V. Based on the results of ball kick testing using the Fuzzy Logic Controller method (FLC) obtained a very minimal error with an average of 0.06 m for the kick drop point and also 0.11 degrees for the kick angle.