Bio-plausible Neuromorphic Disturbance Observer Based on Emulation Theory: Extended Version

• URL: http://arxiv.org/abs/2606.05189v1
• Date: Tue, 05 May 2026 15:28:07 GMT
• Title: Bio-plausible Neuromorphic Disturbance Observer Based on Emulation Theory: Extended Version
• Abstract summary: This paper develops a neuromorhpic disturbance observer (NDO) and control framework.<n>It replaces conventional continuous-time signal representations with spike-timing encoding.<n>It achieves neurally inspired robustness and adaptability, while the adaptive-threshold spiking scheme reduces spike events to 42.6% of the fixed-threshold case.
• Score: 13.267463227196401
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Biological neural systems achieve remarkable robustness and adaptability in uncertain environments through sparse, event-driven spike-based information processing and adaptive regulation. Inspired by this paradigm, this paper develops a neuromorhpic disturbance observer (NDO) and control framework that replaces conventional continuous-time signal representations with spike-timing encoding. Both disturbance estimates and control inputs are constructed via integrate-and-fire (IF) neuron dynamics from discrete spike events, yielding intrinsically event-driven updates. An adaptive-threshold triggering mechanism is inspired by spike-frequency adaptation (SFA), enabling history-dependent regulation of spike generation. Simulation results demonstrate that the proposed framework achieves neurally inspired robustness and adaptability, while the adaptive-threshold spiking scheme reduces spike events to 42.6% of the fixed-threshold case under noisy conditions.

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