相关论文: Optimal motion of a scallop: some case studies

We propose a new LMI approach to the design of optimal switching sequences for polynomial dynamical systems with state constraints. We formulate the switching design problem as an optimal control problem which is then relaxed to a linear…

In this article, we focus on a periodic resource allocation problem applied to a dynamical system which comes from a biological system. More precisely, we consider a system with $N$ resources and $N$ activities, each activity use the…

In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…

The optimal control problem for the kinematic bicycle model is considered where the trajectories are required to satisfy the safety constraints in the continuous-time sense. Based on the differential flatness property of the model,…

Fluid flows play a central role in scientific and technological development, and many of these flows are characterized by a dominant oscillation, such as the vortex shedding in the wake of nearly all transportation vehicles. The ability to…

Cells swimming in viscous fluids create flow fields which influence the transport of relevant nutrients, and therefore their feeding rate. We propose a modeling approach to the problem of optimal feeding at zero Reynolds number. We consider…

The dynamics of a triangular magnetocapillary swimmer is studied using the lattice Boltzmann method. Performing extensive numerical simulations taking into account the coupled dynamics of the fluid-fluid interface and of magnetic particles…

The ability of microswimmers to deploy optimal propulsion strategies is of paramount importance for their locomotory performance and survival at low Reynolds numbers. Although for perfectly spherical swimmers minimum dissipation requires a…

This paper considers an optimal impulse control problem of dynamical systems generated by a flow. The performance criteria are total costs over the infinite time horizon. Apart from the main performance to be minimized, there are multiple…

We investigate the hydrodynamic interactions between microorganisms swimming at low Reynolds number. By considering simple model swimmers, and combining analytic and numerical approaches, we investigate the time-averaged flow field around a…

Actuating periodically an elastic filament in a viscous liquid generally breaks the constraints of Purcell's scallop theorem, resulting in the generation of a net propulsive force. This observation suggests a method to design simple…

In this paper we address the question of the optimal design for the Purcell 3-link swim-mer. More precisely we investigate the best link length ratio which maximizes its displace-ment. The dynamics of the swimmer is expressed as an ODE,…

Here we introduce a two-dimensional (2D) low-Reynolds swimmer and discuss the motion of the swimmer both in noise-free and stochastic regimes. Three spheres, linked by extensible arms, in a plane form the triangle body of micro-swimmer.…

Dual control denotes a class of control problems where the parameters governing the system are imperfectly known. The challenge is to find the optimal balance between probing, i.e. exciting the system to understand it more, and caution,…

This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…

In the present paper we deal with an optimal control problem related to a model in population dynamics; more precisely, the goal is to modify the behavior of a given density of individuals via another population of agents interacting with…

We study a stochastic control problem for continuous multidimensional martingales with fixed quadratic variation. In a radially symmetric environment, we are able to find an explicit solution to the control problem and find an optimal…

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…

We solve exactly the non-equilibrium dynamics of two discrete random walkers moving in channels with transition rates $p \neq q$ that swap positions at a rate $s$. We compute exactly the joint probability distribution $P_{n,m}(t)$ for the…

An optimal control for a dynamical system optimizes a certain objective function. Here we consider the construction of an optimal control for a stochastic dynamical system with a random structure, Poisson perturbations and random jumps,…