Memorias de investigación
Research Publications in journals:
Modeling and Control of Underwater Mine Explorer Robot UX-1
Year:2019

Research Areas
  • Electric engineers, electronic and automatic (eil)

Information
Abstract
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.
International
Si
JCR
Si
Title
Ieee Access
ISBN
2169-3536
Impact factor JCR
3,557
Impact info
Datos JCR del año 2017
Volume
7
10.1109/ACCESS.2019.2907193
Journal number
From page
39432
To page
39447
Month
SIN MES
Ranking
Participants
  • 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

Research Group, Departaments and Institutes related
  • 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