The Purcell three-link swimmer: some geometric and numerical aspects related to periodic optimal controls

MaRDI QIDQ4556140zbMATH OpenFDO

Authors Piernicola Bettiol, Laetitia Giraldi, P. Martinon, Jérémy Rouot, Bernard Bonnard

Publication date 23 November 2018

zbMATH Keywords

first- and second-order necessary optimality conditionsperiodic optimal controlsPurcell swimmer

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Numerical methods based on necessary conditions (49M05) Periodic optimal control problems (49N20) Sub-Riemannian geometry (53C17) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10)

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(8)

• Sub-Riemannian geometry, Hamiltonian dynamics, micro-swimmers, copepod nauplii and copepod robot
• Time-optimal control for a perturbed Brockett integrator. Application to time-optimal axisymmetric micro-swimmers
• Optimal strokes at low Reynolds number: a geometric and numerical study of copepod and purcell swimmers
• Sub-Riemannian geometry and swimming at low Reynolds number: the copepod case
• Periodical body deformations are optimal strategies for locomotion
• Geometric analysis of gaits and optimal control for three-link kinematic swimmers
• Controlling non-controllable scallops
• Involutive flows and discretization errors for nonlinear driftless control systems

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