Semiglobal Feedback Linearization of the Human Head and Binocular Eye Tracking Dynamics Satisfying Donders' Law

Bijoy K. Ghosh, Bhagya U. Athukorallage

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


In this paper, we revisit the head and binocular eye pointing control problems as a constrained dynamics on SO(3) from the point of view of a nonlinear multi input multi output (MIMO) system. The constraint, proposed by Donders, is that for every human head rotating away from its primary pointing direction, the rotational vectors are restricted to lie on a surface called the Donders' surface. This paper assumes that the Donders' surface is described by a quadratic equation on the coordinates of the rotation vector. The inputs to the MIMO system are three external torques provided by muscles rotating the head. The three output signals are chosen as follows. Two of the signals are coordinates of the frontal pointing direction. The third signal measures deviation of the state vector from the Donders' surface. Thus we have a 3× 3 square system and recent results have shown that this system is feedback linearizable on a suitable neighborhood N of the state space. In this paper, we estimate a lower bound on the size of N by computing a lower bound on the distance between the Donders' and the Singularity surface. For the eye pointing control, the Donders' surface is replaced by Listing's plane whereas the two eyes are constrained by a coplanarity condition. The binocular eye pointing control system is described as a MIMO system on SO =SO(3)× SO(3) with six inputs and six outputs. Semiglobal feedback linearization, on a suitable neighborhood B of SO is proposed and an analogous lower bound on this neighborhood is obtained. Binocular tracking control using semiglobal feedback linearization, described in this paper, is new.

Original languageEnglish
Title of host publication2018 European Control Conference, ECC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9783952426982
StatePublished - Nov 27 2018
Event16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duration: Jun 12 2018Jun 15 2018

Publication series

Name2018 European Control Conference, ECC 2018


Conference16th European Control Conference, ECC 2018


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