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.
Set invariance in control,
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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.
A Lyapunov-based gain-updating law preserves initial tree connectivity in delay-free swarms and is robustified against time-varying delays while establishing input-to-state stability.
citing papers explorer
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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.
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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.
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Connectivity-Preserving Swarm Teleoperation Over A Tree Network With Time-Varying Delays
A Lyapunov-based gain-updating law preserves initial tree connectivity in delay-free swarms and is robustified against time-varying delays while establishing input-to-state stability.