Observatorio de I+D+i UPM

Descripción
This paper presents the design and experimental assessment of the control system for the UX-1 robot, a novel spherical underwater vehicle for flooded mine tunnel exploration. Propulsion and maneuvering are based on an innovative manifold system. First, the overall design concepts of the robot are presented. Then, a theoretical six degree-of-freedom (DOF) dynamic model of the system is derived. Based on the dynamic model, two control systems have been developed and tested, one based on the principle of nonlinear state feedback linearization and another based on a finite horizon linear quadratic regulator (LQR). A series of experimental tests have been carried out in a controlled environment to experimentally identify the complex parameters of the dynamic model. Furthermore, the two proposed controllers have been tested in underwater path tracking experiments designed to simulate navigation in mine tunnel environments. The experimental results demonstrated the effectiveness of both the proposed controllers and showed that the state feedback linearization controller outperforms the finite horizon LQR controller in terms of robustness and response time, while the LQR appears to be superior in terms of fall time.
Internacional	Si
JCR del ISI	Si
Título de la revista	Ieee Access
ISSN	2169-3536
Factor de impacto JCR	3,557
Información de impacto	Datos JCR del año 2017
Volumen	7
DOI	10.1109/ACCESS.2019.2907193
Número de revista
Desde la página	39432
Hasta la página	39447
Mes	SIN MES
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• Autor: Ramon Antonio Suarez Fernandez (UPM)
• Autor: Davide Grande (Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano.)
• Autor: Alfredo Martins (INESC Technology and Science, INESC-TEC, Portugal.)
• Autor: Luca Bascetta (Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano.)
• Autor: Sergio Dominguez Cabrerizo (UPM)
• Autor: Claudio Rossi (UPM)

• Creador: Grupo de Investigación: Robótica y Cibernética
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial