Undergravel filters are not recommended when keeping axolotls, the wastes become stockpiled beneath the substrate and this contributes to water quality issues as these wastes are not removed from the water.
Undergravel filters are also a hassle when it comes to cleaning them out as all of the muck trapped by the filter will come soaring forth when the filter is lifted out and muck up the water - adds a lot to the tank maintenance workload!
Undergravel filters are also designed to work under a gravel substrate. Gravel smaller than two centimeters will be swallowed, this causes the axolotl to become impacted and can be fatal. Larger gravel needs to be shifted around in order to clean it underneath where the muck will sift down and accumulate.
The biggest issue for most filters is water flow. Axolotls prefer still water and any water current will stress them. The water current needs to be diffused as to not disturb the axolotls, this can be done by using a spray bar (may take a little ingenuity), or placing an obstruction in front of the flow to break the current (large rock, ornament, plants, etc), or directing the filter's outtake to the tank wall (some filters are adjustable).
The best substrate is to use appropriate sand such as childrens playsand, pool filter sand or aquarium sand for 'fresh water' aquariums or have a barebottom tank. A bare bottom tank is the easiest to keep clean but is not as 'aesthetically' pleasing on the eye lol.
For selecting an appropriate filter for your axolotls I would suggest you read this
article.