Journal
ACTA APPLICANDAE MATHEMATICAE
Volume 178, Issue 1, Pages -Publisher
SPRINGER
DOI: 10.1007/s10440-022-00480-3
Keywords
Motion in viscous fluids; Micro-swimmers; Resistive force theory; Controllability; Optimal control problems
Categories
Funding
- MIUR [CUP: E11G18000350001]
- Natural Sciences and Engineering Research Council of Canada (NSERC) [RGPIN-2018-04418]
- Cette recherche a ete financee par le Conseil de recherches en sciences naturelles et en genie du Canada (CRSNG) [RGPIN-2018-04418]
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The controllability of a fully three-dimensional N-link swimmer is studied in this paper. The controllability of the minimal 2-link swimmer is analyzed using techniques from Geometric Control Theory. It is found that the swimmer can move from any starting configuration and shape to any target configuration and shape by operating on the two shape variables. This result is extended to the N-link swimmer.
The controllability of a fully three-dimensional N-link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal 2-link swimmer is tackled using techniques from Geometric Control Theory. The shape of the 2-link swimmer is described by two angle parameters. It is shown that the associated vector fields that govern the dynamics generate, via taking their Lie brackets, all eight linearly independent directions in the combined configuration and shape space, leading to controllability; the swimmer can move from any starting configuration and shape to any target configuration and shape by operating on the two shape variables. The result is subsequently extended to the N-link swimmer. Finally, the minimal time optimal control problem and the minimization of the power expended are addressed and a qualitative description of the optimal strategies is provided.
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