Mathematical Modelling and Controller Design for Soccer Kick Action Based on SimMechanics in Matlab

Abstract

The research about modelling complex mechanical system have been developed rapidly. Newtonian, Lagrangian and Bond graph method were considered the most useful methods, but involves a high level of geometry, orientation and interconnection between segments. The motivation for this research is to use a modelling-simulation framework to achieve three aims: (a) establish a dynamic model soccer kicking behavior in SimMechanics, (b) synthesize PID and LQR controller for the model and (c) to optimize the dynamic stability and performance during the said movement. The rigid body model is driven by torque actuators at the joints. This modeling framework mimics the kicking action of a soccer player under different regimes. We compared the performance of PID and LQR controller to regulate the kick action. Though the PID controller needed less time to achieve the steady state, the LQR controller could adopt to various task requirements as well as optimized the energy expenditures. The dynamic simulations carried out in this study leads to further investigation of kicking action by utilizing the outside, and inside area of foot for kick action (the Magnus effect).