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.

Full Text:



A. S. Conceção, A. P. Moreira and P. J. Costa, “Design of a mobile robot for RoboCup Middle Size Leagueâ€, 2009 6th Latin American Robotics Symposium (LARS 2009), Valparaiso, pp. 1-6, 2009.

J. de Best and R. van de Molengraft, “An active ball handling mechanism for RoboCupâ€, 2008 10th International Conference on Control, Automation, Robotics and Vision, Hanoi, pp. 2060-2065, 2008.

X. Li, M. Wang and A. Zell, “Dribbling Control of Omnidirectional Soccer Robotsâ€, Proceedings 2007 IEEE International Conference on Robotics and Automation, Roma, pp. 2623-2628, 2007.

M. I. Mas'udi, M. L. Afakh, F. Ardilla, I. K. Wibowo and B. S. Marta, “Implementation of PID Control in Active Ball Handling System of Middle Size Robot Soccerâ€, 2018 10th International Conference on Information Technology and Electrical Engineering (ICITEE), Kuta, pp. 242-247, 2018.

F. A. Widodo and K. Mutijarsa, “Design and implementation of movement, dribbler and kicker for wheeled soccer robotâ€, 2017 International Conference on Information Technology Systems and Innovation (ICITSI), Bandung, pp. 200-205, 2017.

S. Chikushi, T. Weerakoon, K. Ishii and T. Sonoda, “Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robotâ€, 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems (SCIS) and 17th International Symposium on Advanced Intelligent Systems (ISIS), 2016, pp. 532-536, Sapporo.

S. Chikushi, Shota, T. Weerakoon, Tharindu and Sonoda, Takashi K. Ishii and Kazuo, “Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robotâ€, Journal of Robotics, Networking and Artificial Life, Vol. 4, pp. 248-253, 2017.

R. Junkai, X. Chenggang, X. Junhao, H. Kaihong and L. Huimin, “A control system for active ball handling in the RoboCup middle size leagueâ€, 2016 Chinese Control and Decision Conference (CCDC), 2016, pp. 4396-4402, Yinchuan.

S. Basovich and S. Arogeti, “Feedforward control of LTI system with uncertainty and disturbanceâ€, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, pp. 1-6, 2016.

Daniel C. Alexander, Geralyn M. Koeberlein, “Elemetary Geometry for College Studentâ€, Brooks/Cole (Belmont). Ed. 5, pp. 215-216, 2011.

Doyle John, Francis Bruce, Tannenbaum Allen, “Feedback Control Theoryâ€, Dover Publications (New York), Ed. 1, pp. 4-6, 1990.

J. Dorsey, “Continuous and Discrete Control Systems, Modeling, Identification, Design, and Implementationâ€, McGraw-Hill Series in Electrical and Computer Engineering, Prentice-Hall (New York), Ed. International, pp. 156-159, 2002.



  • There are currently no refbacks.

Published by INSIGHT - Indonesian Society for Knowledge and Human Development