Generic controllability of 3D swimmers in a perfect fluid

DOI10.1137/110828654zbMATH Open1320.76131arXiv1103.5163OpenAlexW2963414266MaRDI QIDQ4905928FDOQ4905928

Authors: Thomas Chambrion, Alexandre Munnier 

Publication date: 21 February 2013

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed shape changes and the flow, the total impulse of the fluid-swimmer system being constant for all times. We prove the following tracking results: (i) Synchronized swimming: Maybe up to an arbitrarily small change of its density, any swimmer can approximately follow any given trajectory while, in addition, undergoing approximately any given shape changes. In this statement, the control consists in arbitrarily small superimposed deformations; (ii) Freestyle swimming: Maybe up to an arbitrarily small change of its density, any swimmer can approximately tracks any given trajectory by combining suitably at most five basic movements that can be generically chosen (no macro shape changes are prescribed in this statement).

Full work available at URL: https://arxiv.org/abs/1103.5163

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zbMATH Keywords

locomotiongeometric controlfreestyle swimmingshape-changing bodysynchronized swimming

Mathematics Subject Classification ID

Biomechanics (92C10) Biopropulsion in water and in air (76Z10) Flow control and optimization for incompressible inviscid fluids (76B75)

Cited In (17)

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• Swim-like motion of bodies immersed in an ideal fluid
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• The \(N\)-link swimmer in three dimensions: controllability and optimality results
• On the derivation of a Stokes-Brinkman problem from Stokes equations around a random array of moving spheres
• Control at a distance of the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid
• External boundary control of the motion of a rigid body immersed in a perfect two-dimensional fluid
• Stabilization of a fluid-solid system, by the deformation of the self-propelled solid. I: The linearized system.
• Stabilization of a fluid-solid system, by the deformation of the self-propelled solid. II: The nonlinear system.
• Controllability of low Reynolds numbers swimmers of ciliate type
• An optimal control approach to ciliary locomotion
• A control theoretic approach to the swimming of microscopic organisms
• Enhanced controllability of low Reynolds number swimmers in the presence of a wall
• Controllability of 3D low Reynolds number swimmers
• Optimal strokes for driftless swimmers: a general geometric approach
• Control of locomotion systems and dynamics in relative periodic orbits

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