Controllability and Optimal Strokes for N-link Microswimmer

被引：0

作者：

Giraldi, Laetitia ^{[1
]}

Martinon, Pierre ^{[1
]}

Zoppello, Marta ^{[2
]}

机构：

[1] Ecole Polytech, CNRS, Ctr Math Appl, CMAP,UMR 7641, F-91128 Palaiseau, France

[2] Univ Padua, Dipartimento Matemat Pura & Appl, I-35100 Padua, Italy

来源：

2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2013年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we focus on the N-Iink swimmer [1], a generalization of the classical 3-link Purcell swimmer [18]. We use the Resistive Force Theory to express the equation of motion in a fluid with a low Reynolds number, see for instance [12]. We prove that the swimmer is controllable in the whole plane for N :2: 3 and for almost every set of stick lengths. As a direct result, there exists an optimal swimming strategy to reach a desired configuration in minimum time. Numerical experiments for N >= 3 (Purcell swimmer) suggest that the optimal strategy is periodic, namely a sequence of identical strokes. Our results indicate that this candidate for an optimal stroke indeed gives a better displacement speed than the classical Purcell stroke.

引用

页码：3870 / 3875

页数：6