This paper proposed a predictive control system for balancing an inverted wheeled robot on a ship using the autoregressive model and Kalman filter. In general, the control system of inverted wheeled robot is designed on the assumption that ground does not move. However, a ship has six degrees of freedom. Therefore, a method of predicting the ship's motion was required to control the balancing inverted wheeled robot on the ship. This study was focused on the ship's rolling motion. On the ship, the rolling motion was predicted by the autoregressive model and Kalman filter, and then the inverted wheeled robot was controlled by adding accelerations to the inverted wheeled robot for canceling the inertia forces of the predicted rolling motion. Effectiveness of the proposed control system was indicated with experimental results.
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