Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

Laetitia Giraldi; Jean-Baptiste Pomet

Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

Laetitia Giraldi ^{1, 2, 3} Jean-Baptiste Pomet ^{3, 1, 2}

1 LJAD

JAD - Laboratoire Jean Alexandre Dieudonné

2 CNRS - Centre National de la Recherche Scientifique

3 McTAO - Mathematics for Control, Transport and Applications

CRISAM - Inria Sophia Antipolis - Méditerranée

Abstract : A recent promising technique for robotic micro-swimmers is to endow them with a magnetization and apply an external magnetic field to provoke their deformation. In this note we consider a simple planar micro-swimmer model made of two magnetized segments connected by an elastic joint, controlled via a magnetic field. After recalling the analytical model, we establish a local controllability result around the straight position of the swimmer.

Keywords : controllability return-method micro-swimmer

Document type :

Journal articles

Domain :

Mathematics [math] / Optimization and Control [math.OC]

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https://hal.archives-ouvertes.fr/hal-01145537
Contributor : Laetitia Giraldi <>
Submitted on : Saturday, December 3, 2016 - 5:48:10 PM
Last modification on : Monday, October 14, 2019 - 3:12:02 PM
Long-term archiving on : Monday, March 20, 2017 - 8:25:57 PM

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Local Controllability of the Two-Link Magneto-Elastic Micro-Swimmer

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