Modelling 3D saccade generation by feedforward optimal control
Fig 17
The total model encompasses two linked (nonlinear) components: the sequence of motor commands, Ut, and the 3D eye plant, H.
The plant’s output (described by 3D eye orientation, rt, and angular velocity, ωt) is used to tune the cost function, JForce(r, ω), that drives the motor outputs. The system’s behavior follows the dynamics and kinematics of real saccades (insets, right). Any change in the plant’s parameters will require corresponding changes in the motor outputs, ut. rD: 2D target location. The thin feedback arrow represents the training phase during which eye movements recurrently train the motor outputs to minimize the imposed cost.