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This is attributed to their motion primitives, which do not inherently generate displacement in a singular, predictable direction. To overcome this limitation, this paper proposes a closed-loop control strategy on the basis of event-based control. This control approach enables the robot to perform a specific motion primitive when the deviation from the desired trajectory exceeds a predefined threshold. In other words, an asynchronous strategy is used to adjust the motion of the swimmer, thereby ensuring tracking of the desired path with a limited error. The effectiveness of this closed-loop control strategy is demonstrated through experiments with a motor-driven 30 cm-length prototype. These tests show that this event-based control strategy allows the swimmer to follow specific paths with a tracking error of less than 30% of its length.<\/jats:p>","DOI":"10.3390\/robotics14080110","type":"journal-article","created":{"date-parts":[[2025,8,14]],"date-time":"2025-08-14T14:51:46Z","timestamp":1755183106000},"page":"110","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Event-Based Closed-Loop Control for Path Following of a Purcell\u2019s Three-Link Swimmer"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9756-7641","authenticated-orcid":false,"given":"Cristina","family":"Nuevo-Gallardo","sequence":"first","affiliation":[{"name":"Escuela de Ingenier\u00edas Industriales, Universidad de Extremadura, 06006 Badajoz, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7677-1958","authenticated-orcid":false,"given":"Luis","family":"M\u00e9rida-Calvo","sequence":"additional","affiliation":[{"name":"Instituto de Investigaciones Energ\u00e9ticas y Aplicaciones Industriales, Universidad de Castilla-La Mancha, 13071 Ciudad Real, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5542-348X","authenticated-orcid":false,"given":"In\u00e9s","family":"Tejado","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00edas Industriales, Universidad de Extremadura, 06006 Badajoz, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5039-0738","authenticated-orcid":false,"given":"Blas M.","family":"Vinagre","sequence":"additional","affiliation":[{"name":"Escuela de Ingenier\u00edas Industriales, Universidad de Extremadura, 06006 Badajoz, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3578-7910","authenticated-orcid":false,"given":"Vicente","family":"Feliu-Batlle","sequence":"additional","affiliation":[{"name":"Escuela T\u00e9cnica Superior de Ingenier\u00eda Industrial de Ciudad Real, Universidad de Castilla-La Mancha, 13071 Ciudad Real, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2025,8,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"104859","DOI":"10.1016\/j.ijnonlinmec.2024.104859","article-title":"Dynamics, stability and bifurcations of a planar three-link swimmer with passive visco-elastic joint using \u201cideal fluid\u201d model","volume":"167","author":"Tovi","year":"2024","journal-title":"Int. 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