Stabilization and trajectory tracking of version and vergence eye movements in human binocular control

Takafumi Oki, Bijoy K. Ghosh

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

2 Scopus citations


Using the well known approach of feedback linearization, we study problems that can be applied to controlling the rotational motion of a pair of human eyes. Eyes move to acquire a fixed point target and the control task is to direct the eye-pair towards a general target direction and, if the target is close by, to focus on the target. Roughly speaking, the former task is accomplished by versional eye movements and the latter task of pinpointing the eye on a specific target is accomplished by vergence eye movements. In this paper, we separately synthesize asymptotically stabilizing controllers, in the neighborhood of a target point, for version and vergence control systems. This is accomplished by defining a suitable output and regulating the output to the origin, while the eyes gaze towards the target.

Original languageEnglish
Title of host publication2015 European Control Conference, ECC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9783952426937
StatePublished - Nov 16 2015
EventEuropean Control Conference, ECC 2015 - Linz, Austria
Duration: Jul 15 2015Jul 17 2015

Publication series

Name2015 European Control Conference, ECC 2015


ConferenceEuropean Control Conference, ECC 2015


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