Control of Motion of an Actively Bending Body in Prescribed Channels with Viscous Friction

Mechanics is described and equations are given of motion of an actively bending homogeneous and continuous body of a finite thickness in channels with the viscous friction, using as an example channels in a viscous fluid. Control of motion is suggested, which ensures a maximum speed of the body in a definite channel. Using a sinusoidal channel as an example, the path is described of the repeated maximization of the speed according to the choice of the best parameters of the channel. Control is considered of a wide class other motions of the body.