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. ; This work was supported in part by the UNEXMIN Project through the European Union’s Horizon 2020 Research and Innovation Programme under Agreement 690008, in part by the RoboCity2030-DIH-CM Madrid Robotics Digital Innovation Hub (Robotica aplicada a la mejora de la calidad de vida de los ciudadanos. fase IV) through the Programas de Actividades I+D en la Comunidad de Madrid under Grant S2018/NMT-4331, and in part by the Structural Funds of the EU. ; Peer reviewed


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