Qualitative Functional Decomposition Analysis of Evolved Neuromorphic Flight Controllers
Figure 21
The qualitative functional decomposition derived for the evolved autonomous altitude gain controllers and steer controllers. Most of the steer controller’s wing kinematics can be decomposed with a typical CPG-like functional template shown in (a) as a closely coupled stroke and rotation oscillators with steady beat rate and steady amplitude. Most of the altitude gain controllers can be decomposed with the functional template shown in (b), with a dedicated stroke oscillator along with a saturated rotation control module.
