The N-link swimmer in three dimensions: controllability and optimality results

DOI10.1007/S10440-022-00480-3zbMATH Open1485.93073arXiv1912.04998OpenAlexW2996495286MaRDI QIDQ2115244FDOQ2115244

Marco Morandotti, Roberto Marchello, Henry Shum, Marta Zoppello

Publication date: 15 March 2022

Published in: Acta Applicandae Mathematicae (Search for Journal in Brave)

Abstract: 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 six linearly independent directions in the configuration space; every direction and orientation can be achieved 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 minimisation of the power expended are addressed and a qualitative description of the optimal strategies is provided.

Full work available at URL: https://arxiv.org/abs/1912.04998

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zbMATH Keywords

controllabilityoptimal control problemsmicro-swimmersresistive force theorymotion in viscous fluids

Mathematics Subject Classification ID

Controllability (93B05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Nonlinear systems in control theory (93C10) Biopropulsion in water and in air (76Z10) Geometric methods (93B27)

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Cited In (2)

• Geometric analysis of gaits and optimal control for three-link kinematic swimmers
• Local Controllability for a “Swimming” Model

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