The inertialess fluid–structure interactions of active and passive inextensible filaments and
slender-rods are ubiquitous in nature, from the dynamics of semi-flexible polymers and …

This letter focuses on the control theory aspects of the dynamics of a magnetized micro-
swimmer robot model made of three rigid links. Under generic assumptions on the …

With the continuing rapid development of artificial microrobots and active particles,
questions of microswimmer guidance and control are becoming ever more relevant and …

Active walls such as cilia and bacteria carpets generate background flows that can influence
the trajectories of microswimmers moving nearby. Recent advances in artificial magnetic …

Previous work on controllability of underactuated serial horizontal planar manipulators
mostly focused only on a specific number of links, whereas this paper considers a general N …

We address the swimming problem at low Reynolds number. This regime, which is typically
used for micro-swimmers, is described by Stokes equations. We couple a PDE solver of …

We consider control-afflne systems with two scalar controls, such that one control vector field
vanishes at an equilibrium state. We state two necessary conditions for local controllability …

We consider control-affine systems with two scalar controls, such that one control vector field
vanishes at an equilibrium state. We state two necessary conditions for local controllability …

This thesis deals with mathematical aspects of controllability of micro-swimming robots and
of motility of micro-filaments, with ramifications in control theory and modeling. The first part …

Contrôler un système consiste à agir dessus afin de maîtriser l'évolution de son état. La
théorie du contrôle se divise en trois sous-domaines que l'on peut chacun résumer en une …