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.
Balanced control between performance and saturation for constrained nonlinear systems,
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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.