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Controllability properties of a class of systems modelingswimming microscopic organisms

Published online by Cambridge University Press:  11 August 2009

Mario Sigalotti  and
Jean-Claude Vivalda
Mario Sigalotti
Affiliation:
Institut Élie Cartan de Nancy, UMR 7502 INRIA/Nancy-Université/CNRS, B.P. 239, 54506 Vandœuvre-lès-Nancy Cedex, France. [email protected] Équipe-projet CORIDA, INRIA Nancy – Grand Est, France.
Jean-Claude Vivalda
Affiliation:
Équipe-projet CORIDA, INRIA Nancy – Grand Est, France. Laboratoire et Département de Mathématiques, UMR 7122 Université de Metz/CNRS, Bât. A, Île du Saulcy, 57045 Metz Cedex 1, France.
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Abstract

We consider a finite-dimensional model for the motion of microscopic organisms whose propulsion exploitsthe action of a layer of cilia covering its surface. The model couples Newton's laws driving the organism, considered as a rigid body, withStokes equations governing the surrounding fluid.The action of thecilia is described by a set of controlled velocity fields on the surface of the organism. The first contribution of the paper is the proof that such a systemis generically controllable when the space of controlled velocity fields is at least three-dimensional. We also provide a complete characterization of controllable systems in the case in whichthe organism has a spherical shape. Finally, we offer a complete picture of controllable and non-controllable systems under the additional hypothesis thatthe organism and the fluid have densities of the same order of magnitude.

Keywords

Swimming micro-organismsciliatahigh viscositynonlinear systemscontrollability
Type
Research Article
Information
ESAIM: Control, Optimisation and Calculus of Variations , Volume 16 , Issue 4 , October 2010 , pp. 1053 - 1076
Copyright
© EDP Sciences, SMAI, 2009

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