NDLI: Controllability of a Pair of Swimming Microrotors in a Bounded Domain at Low Reynolds Number

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Controllability of a Pair of Swimming Microrotors in a Bounded Domain at Low Reynolds Number

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Buzhardt, Jake Fedonyuk, Vitaliy Sudarsanam, Senbagaraman Tallapragada, Phanindra
Copyright Year	2018
Abstract	We investigate the dynamics of a pair of spinning spheres or microrotors in a fluid at low Reynolds numbers. These microrotors are each approximated by a rotlet, a fundamental singularity of the Stokes equation. Singularities of Stokes flows serve as useful theoretical models for microswimmers and micro-robots. Rotlet models of microswimmers have received less attention since a rotlet cannot generate translation by itself if the only control input is the rate of spin or strength of the rotlet. However a pair of rotlets can interact and execute net motion. In an unbounded domain of fluid, the positions of a pair of rotlets are not fully controllable due to the existence of an invariant. However, in a confined domain, we show that the positions of the pair of spheres are small time locally controllable. We show how control inputs can be constructed based on combinations of Lie brackets to move the rotlets from one point to another in the domain.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791851913
DOI	10.1115/DSCC2018-9013
Volume Number	Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
Conference Proceedings	ASME 2018 Dynamic Systems and Control Conference
Language	English
Publisher Date	2018-09-30
Publisher Place	Atlanta, Georgia, USA
Access Restriction	Subscribed
Subject Keyword	Fluids Spin (aerodynamics) Dynamics (mechanics) Reynolds number Robots Creeping flow
Content Type	Text
Resource Type	Article

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