Controllability and Optimal Strokes for N-link Micro-swimmer

Abstract : In this paper we focus on the N-link swimmer, a generalization of the classical 3-link Purcell swimmer. We use the Resistive Force Theory to express the equation of motion in a fluid with a low Reynolds number, and prove that the swimmer is controllable in the whole plane for N greater or equal than 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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [23 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-00798363
Contributor : Pierre Martinon <>
Submitted on : Wednesday, April 27, 2016 - 11:28:15 AM
Last modification on : Wednesday, March 27, 2019 - 4:08:31 PM
Long-term archiving on : Thursday, July 28, 2016 - 10:17:20 AM

File

CDC-final.pdf
Files produced by the author(s)

Identifiers

Citation

Laetitia Giraldi, Pierre Martinon, Marta Zoppello. Controllability and Optimal Strokes for N-link Micro-swimmer. 52nd IEEE Conference on Decision and Control, Dec 2013, Firenze, Italy. ⟨10.1109/CDC.2013.6760480⟩. ⟨hal-00798363v3⟩

Share

Metrics

Record views

503

Files downloads

293