Geometric and Numerical Optimal Control by Bernard Bonnard & Monique Chyba & Jérémy Rouot

Author:Bernard Bonnard & Monique Chyba & Jérémy Rouot
Language: eng
Format: epub
ISBN: 9783319947914
Publisher: Springer International Publishing

where is the length of the stroke.

2.7.3 Copepod Swimmer

Geometric Analysis of a Copepod Swimmer

In [87], two types of geometric motions are described.

First case: (Fig. 2.20 (left)) The two legs are assumed to oscillate sinusoidally according to

with , , and . This produces a displacement .

Second case: (Fig. 2.20 (right)) The two legs are paddling in sequence followed by a recovery stroke performed in unison. In this case the controls , produce bang arcs to steer the angles between the boundary of the domain to the boundary , while the unison sequence corresponds to a displacement from to 0 with the constraint .

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