Sigmoid-based constraint lifting transforms state-constrained discrete-time nonlinear systems into unconstrained backstepping designs that guarantee asymptotic stability and forward invariance of the safe set.
Backstepping control for output-constrained nonlinear systems based on nonlinear mapping
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State-Constrained Control of Discrete-Time Nonlinear Systems via Constraint Lifting
Sigmoid-based constraint lifting transforms state-constrained discrete-time nonlinear systems into unconstrained backstepping designs that guarantee asymptotic stability and forward invariance of the safe set.