Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

DOI10.1109/TAC.2016.2600158MaRDI QIDQ5280434zbMATH OpenFDO

Authors Laetitia Giraldi, Jean-Baptiste Pomet

Publication date 27 July 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1506.05918

Mathematics Subject Classification ID

Controllability (93B05) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

Abstract: A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two magnetized segments connected by an elastic joint, controlled via a magnetic field. After recalling the analytical model, we establish a local controllability result around the straight position of the swimmer.

Cited in

(5)

• Necessary conditions for local controllability of a particular class of systems with two scalar controls
• The \(N\)-link swimmer in three dimensions: controllability and optimality results
• Controllability and accessibility results for \(N\)-link horizontal planar manipulators with one unactuated joint
• Controllability and control synthesis of underactuated magnetic microrobots
• The control of particles in the Stokes limit

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