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.
Adaptive and safe control of nonlinear systems with multiplicative uncertainty and state constraints
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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.