A Numerical Approach to the Optimal Control and Efficiency of the Copepod Swimmer

Bernard Bonnard (1, 2) , Monique Chyba (3) , Jérémy Rouot (1) , Daisuke Takagi (3)

1 McTAO - Mathematics for Control, Transport and Applications
2 IMB - Institut de Mathématiques de Bourgogne [Dijon]
3 Department of Mathematics [Hawaii]

This article presents a geometric and numericalapproach to compute the optimal swimming strokes of a larvalcopepod. A simplified model of locomotion at low Reynoldsnumber is analyzed in the framework of Sub-Riemanniangeometry. Both normal and abnormal geodesics are consideredalong which the mechanical power dissipated by the swimmeris conserved. Numerical simulations show that, among variousperiodic strokes, a normal stroke consisting of a simple loopshape is maximizing the efficiency.

Domaines: Optimisation et contrôle [math.OC]

Bernard Bonnard, Monique Chyba, Jérémy Rouot, Daisuke Takagi. A Numerical Approach to the Optimal Control and Efficiency of the Copepod Swimmer. 55th IEEE Conference on Decision and Control - CDC, Dec 2016, Las Vegas, United States. pp.4196-4201, ⟨10.1109/CDC.2016.7798906⟩. ⟨hal-01286602v3⟩