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

DOI10.1007/S10440-022-00480-3MaRDI QIDQ2115244zbMATH OpenOpenAlexFDO

Authors Roberto Marchello, Marco Morandotti, Henry Shum, Marta Zoppello

Publication date 15 March 2022

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

Copyright license Creative Commons Attribution 4.0 International

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

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)

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.

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Cited in

(13)

• Gait controllability of length-changing slender microswimmers
• The Purcell three-link swimmer: some geometric and numerical aspects related to periodic optimal controls
• Addendum to ``Local controllability of the two-link magneto-elastic microswimmer
• Geometric analysis of gaits and optimal control for three-link kinematic swimmers
• Controllability of 3D low Reynolds number swimmers
• Dynamics and optimal actuation of a three-sphere low-Reynolds-number swimmer with muscle-like arms
• Local Controllability for a “Swimming” Model
• Controlling non-controllable scallops
• One-dimensional swimmers in viscous fluids: dynamics, controllability, and existence of optimal controls
• A priori and a posteriori controllability of volumetric growth: a theoretical approach
• Controllability and displacement analysis of a three-link elastic microswimmer: a geometric control approach
• Generic controllability of 3D swimmers in a perfect fluid
• Controllability and time optimal control for low Reynolds numbers swimmers

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