Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers
Figure 4
Interfacing CTRNN Architecture to MFWR Model to evolve and analyze flight controllers. In the figure, (with range −90 to 90) indicates the instantaneous rotational angle of the wing, (with range −60 to 60) indicates the instantaneous stroke angle of the wing, and (with range −45 to 45) indicates the instantaneous stroke plane angle of the wing. The parameters with “” indicate the rate of change for the parameter it is referring to and these parameters with “r” and “l” indicate the right (r) and left (l) wing parameters, respectively.
