Local controllability of the two-link magneto-elastic swimmer
Résumé
A recent promising technique for moving a robotic micro-swimmers is to apply an external magnetic field. This paper focuses on a simple micro-swimmer model with two magnetized segments connected by an elastic joint, which is able to move in a plane by using a magnetic field. By considering the latter as control functions, we prove that the swimmer is locally controllable around the straight position.
Domaines
Optimisation et contrôle [math.OC]
Origine : Fichiers produits par l'(les) auteur(s)