2020
DOI: 10.1111/cgf.14113
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Linear Time Stable PD Controllers for Physics‐based Character Animation

Abstract: In physics‐based character animation, Proportional‐Derivative (PD) controllers are commonly used for tracking reference motions in motor control tasks. Stable PD (SPD) controllers significantly improve the numerical stability of traditional PD controllers and support large gains and large integration time steps during simulation [TLT11]. For an articulated rigid body system with n degrees of freedom, all SPD implementations to date, however, use an O(n3) dense matrix factorization based method. In this paper, … Show more

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Cited by 7 publications
(1 citation statement)
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References 26 publications
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“…Stable Proportional‐Derivative (SPD) controllers [TLT11,YY20] introduce the idea of incorporating the next simulation step into the computation of forces, thus improving numerical stability and performance. Simplified physical models [KH10, KHH17], stochastic optimal control [LYV*10], or Model Predictive Control (MPC) [TET12, TMT14, EHSN19] have also been successfully used to animate virtual agents with PD controllers at their joints.…”
Section: Related Workmentioning
confidence: 99%
“…Stable Proportional‐Derivative (SPD) controllers [TLT11,YY20] introduce the idea of incorporating the next simulation step into the computation of forces, thus improving numerical stability and performance. Simplified physical models [KH10, KHH17], stochastic optimal control [LYV*10], or Model Predictive Control (MPC) [TET12, TMT14, EHSN19] have also been successfully used to animate virtual agents with PD controllers at their joints.…”
Section: Related Workmentioning
confidence: 99%