Smooth tracking eye movement adaptive tracking controller with fixation difference constraint and control method thereof

The present invention discloses a smooth tracking eye movement adaptive tracking controller with fixation difference constraint and a control method thereof. The fixation difference is defined as the difference of an object speed and an eyeball speed, the maximum allowable value of the fixation difference is set, and minimizing the fixation difference is taken as a control target to obtain the predicted value of the object speed; and the eyeball is controlled to generate the same speed as the object speed according to the predicted value of the object speed. The smooth tracking eye movement adaptive tracking controller with fixation difference constraint and the control method thereof allow the fixation difference to be an allowable range all the time and to finally converge to be 0 in the whole tracking process so as to greatly solve the defect that a traditional smooth tracking eye movement control method cannot analyze the transient state control performance.