An adaptive constraint-lifting framework achieves asymptotic tracking, closed-loop stability, and forward invariance of safe sets for uncertain strict-feedback nonlinear systems using Lyapunov analysis.
Discrete- time reference governors and the nonlinear control of systems with state and control constraints
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Adaptive Constraint-Lifting Control with Stability and Invariance Guarantees
An adaptive constraint-lifting framework achieves asymptotic tracking, closed-loop stability, and forward invariance of safe sets for uncertain strict-feedback nonlinear systems using Lyapunov analysis.