Pré-Publication, Document De Travail Année : 2025

Non-Locally Controllable but Trackable Magnetic Head Flagellated Swimmer

Résumé

Unlike macroscopic swimmers, microswimmers operate in a low-Reynolds-number regime dominated by viscous forces. This paper investigates the controllability of a magnetic microswimmer composed of a spherical magnetic head and an elastic, non-magnetic flagellum. The swimmer evolves in a Stokes flow and is modeled using the resistive force theory. We prove that, under planar motion, the system is not small-time locally controllable and numerically identify regions that remain inaccessible. Nevertheless, simulations show that trajectory tracking can still be achieved via Bayesian optimization, though it requires large-amplitude transverse deformations.

Dates et versions

hal-05348147 , version 1 (05-11-2025)

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Lucas Palazzolo, Mickaël Binois, Laëtitia Giraldi. Non-Locally Controllable but Trackable Magnetic Head Flagellated Swimmer. 2025. ⟨hal-05348147⟩
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