Tracking and optimal control problems in human head/eye coordination

Indika Wijayasinghe, Eugenio Aulisa, Bijoy K. Ghosh, Stefan Glasauer, Olympia Kremmyda

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

3 Scopus citations


Human head and eye rotate in coordination to rapidly project images of targets from the visual space. Once a target is fixated, the head/eye complex maintains the stability of the image, even while the head continues to move. The dynamics of the head is constrained by Donders' Law whereas the final position of the eye satisfies Listing's constraint with respect to the final position of the head. The vestibuloocular reflex rotates the eye opposite to the forward movement of the head in order to compensate and maintain image stability. Using a dynamic model of the head and eye, the eye movement is modeled as a tracking control problem, where the tracking signal depends on the head movement trajectory. The torques required for the head and eye movements are computed by minimizing a suitable cost function. The paper computes the optimal torque and compares simulation results with experimentally measured data on human head/eye movement.

Original languageEnglish
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Print)9781479901777
StatePublished - 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC


  • Donders' Surface
  • Eye Movement
  • Head Movement
  • Listing's Law
  • Optimal Control Tracking
  • Vestibulo-ocular reflex


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