Controllability and Displacement Analysis of a Three-Link Elastic Microswimmer: A Geometric Control Approach

Abstract. This study investigates the dynamics and controllability of a Purcell three-link microswimmer equipped with passive elastic torsional coils at its joints. By controlling the spontaneous curvature, we analyze the swimmer’s motion using both linear and weakly nonlinear approaches. Linear analysis reveals steady harmonic solutions for small-amplitude controls but does not predict any net displacement, whereas weakly nonlinear analysis predicts translation along the orientation of the central link. Using geometric control theory, we prove that the system is small-time locally controllable near equilibrium and derive displacement estimates for periodic piecewise constant controls, which are validated through numerical simulations. These findings indicate that oscillatory controls can enable motion in all directions near equilibrium. This work offers foundational insights into the controllability of elastic microswimmers, paving the way for advanced motion planning and control strategies.