A sigmoid diffeomorphism lifts safe-set constraints for nonlinear systems into an unbounded domain, yielding an explicit asymptotically stabilizing controller with forward invariance guarantees via special Lyapunov functions.
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A Constraint-Lifting Framework for Safe and Stable Nonlinear Control
A sigmoid diffeomorphism lifts safe-set constraints for nonlinear systems into an unbounded domain, yielding an explicit asymptotically stabilizing controller with forward invariance guarantees via special Lyapunov functions.