Control and navigation problems for model bio-inspired microswimmers

Abstract Navigation problems for a model bio-inspired micro-swimmer, consisting of cargo head and propelled by multiple rotating flagella or propellers swimming at low Reynolds numbers, are formulated solved. We consider both the direct problem, namely, predicting velocity trajectories swimmer as consequence prescribed rotation rates propellers, inverse problems, find to best approximate desired translational rotational velocities and, ultimately, target trajectories. The equations motion express balance forces torques acting on swimmer, relate propellers. coefficients these equations, representing hydrodynamic resistance coefficients, evaluated numerically through custom-built finite-element code simulate (Stokes) fluid flows generated movement its parts. Several designs propulsive rotors considered: from helical with different chirality marine their relative performance is assessed.