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Controllability of a bent 3-link magnetic microswimmer

Giraldi, Laetitia; Lissy, Pierre; Moreau, Clément; Pomet, Jean-Baptiste (2016), Controllability of a bent 3-link magnetic microswimmer. https://basepub.dauphine.fr/handle/123456789/17173

Type
Document de travail / Working paper
External document link
https://hal.archives-ouvertes.fr/hal-01390138
Date
2016
Series title
Cahier de recherche CEREMADE, Université Paris-Dauphine
Pages
6
Metadata
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Author(s)
Giraldi, Laetitia
Lissy, Pierre
Moreau, Clément cc
Pomet, Jean-Baptiste cc
Abstract (EN)
In this paper, we focus on a variant of a 3-link magnetic microswimmer which consists of three rigid magnetized segments connected by two torsional springs. In particular, we assume that one of the springs is twisted so that the swimmer is not aligned at rest. By acting on it with an external magnetic field, the swimmer twists and moves through the surrounding fluid. By considering the external magnetic field as a control function, we state a local partial controllability result around the equilibrium states. Then, we propose a constructive method to find the magnetic field that allows the swimmer to move along a prescribed trajectory. Finally, we show numerical simulations in which the swimmer moves along a prescribed path.
Subjects / Keywords
3-link magnetic microswimmer