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Stable Proportional-Derivative Controllers
July/August 2011 (vol. 31 no. 4)
pp. 34-44
ASCII Text
x 
 
Jie Tan, Karen Liu, Greg Turk, "Stable Proportional-Derivative Controllers," IEEE Computer Graphics and Applications, vol. 31, no. 4, pp. 34-44, July/August, 2011.
 
 
BibTex
x
 
@article{ 10.1109/MCG.2011.30,
author = {Jie Tan and Karen Liu and Greg Turk},
title = {Stable Proportional-Derivative Controllers},
journal ={IEEE Computer Graphics and Applications},
volume = {31},
number = {4},
issn = {0272-1716},
year = {2011},
pages = {34-44},
doi = {http://doi.ieeecomputersociety.org/10.1109/MCG.2011.30},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - MGZN
JO - IEEE Computer Graphics and Applications
TI - Stable Proportional-Derivative Controllers
IS - 4
SN - 0272-1716
SP34
EP44
EPD - 34-44
A1 - Jie Tan,
A1 - Karen Liu,
A1 - Greg Turk,
PY - 2011
KW - character animation
KW - proportional-derivative controller
KW - constrained dynamics
KW - keyframe interpolation
KW - computer graphics
KW - graphics and multimedia
VL - 31
JA - IEEE Computer Graphics and Applications
ER -
 
Jie Tan, Georgia Institute of Technology
Karen Liu, Georgia Institute of Technology
Greg Turk, Georgia Institute of Technology
In computer animation, the proportional-derivative (PD) controller is a common technique for tracking characters' motion. A new formulation of the PD controller—stable PD (SPD)—allows arbitrarily high gains, even at large time steps. The key is to determine joint forces and torques while taking into account the character's positions and velocities in the next time step. SPD is stable even when combined with a physics simulator that uses simple Euler integration. SPD controllers have a variety of uses, including motion tracking in a physics simulator, keyframe interpolation with secondary motion, and constraint satisfaction for simulation.

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Index Terms:
character animation, proportional-derivative controller, constrained dynamics, keyframe interpolation, computer graphics, graphics and multimedia
Citation:
Jie Tan, Karen Liu, Greg Turk, "Stable Proportional-Derivative Controllers," IEEE Computer Graphics and Applications, vol. 31, no. 4, pp. 34-44, July-Aug. 2011, doi:10.1109/MCG.2011.30
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