Fig. 1. Visual Tracking System Architecture Diagram

Fig. 2. Piezoelectric experimental platform

Fig. 3. Voltage-displacement hysteresis curve

Fig. 4. Neural network architecture

Fig. 5. X-direction velocity error map for traditional algorithm

Fig. 6. X-direction position error map for traditional algorithm

Fig. 7. X-direction velocity error map for improved algorithm

Fig. 8. X-direction position error map for improved algorithm

Fig. 9. Shi-Tomasi corner detection

Fig. 10. Motion trajectory of the piezoelectric

Fig. 11. Tracking error of improved extended Kalman and traditional extended Kalman

Fig. 12. Motion trajectory of the piezoelectric

Fig. 13. Tracking error of improved extended Kalman and traditional extended Kalman