{"id":"https://openalex.org/W4417077800","doi":"https://doi.org/10.48550/arxiv.2509.15071","title":"A Nonlinear Scaling-based Design of Control Lyapunov-barrier Function for Relative Degree 2 Case and its Application to Safe Feedback Linearization","display_name":"A Nonlinear Scaling-based Design of Control Lyapunov-barrier Function for Relative Degree 2 Case and its Application to Safe Feedback Linearization","publication_year":2025,"publication_date":"2025-09-18","ids":{"openalex":"https://openalex.org/W4417077800","doi":"https://doi.org/10.48550/arxiv.2509.15071"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2509.15071","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.15071","pdf_url":"https://arxiv.org/pdf/2509.15071","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.15071","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5120642670","display_name":"Haechan Pyon","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Pyon, Haechan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5024045458","display_name":"Gyunghoon Park","orcid":"https://orcid.org/0000-0001-8339-5359"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Gyunghoon","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5120642670"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.3458999991416931,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.3458999991416931,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.13760000467300415,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.13760000467300415,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8253999948501587},{"id":"https://openalex.org/keywords/sigmoid-function","display_name":"Sigmoid function","score":0.7419000267982483},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5333999991416931},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5115000009536743},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5101000070571899},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4884999990463257},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.48809999227523804},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47290000319480896},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.43320000171661377}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8253999948501587},{"id":"https://openalex.org/C81388566","wikidata":"https://www.wikidata.org/wiki/Q526668","display_name":"Sigmoid function","level":3,"score":0.7419000267982483},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5333999991416931},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5115000009536743},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5101000070571899},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4884999990463257},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.48809999227523804},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47290000319480896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.45989999175071716},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.43320000171661377},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.41819998621940613},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3732999861240387},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.3652999997138977},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.3582000136375427},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.3476000130176544},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.3325999975204468},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.33230000734329224},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2962000072002411},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.28029999136924744},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C176181172","wikidata":"https://www.wikidata.org/wiki/Q3490301","display_name":"Nondeterministic algorithm","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25850000977516174},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2551000118255615},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.2522999942302704}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2509.15071","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.15071","pdf_url":"https://arxiv.org/pdf/2509.15071","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2509.15071","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.15071","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.15071","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.15071","pdf_url":"https://arxiv.org/pdf/2509.15071","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"address":[4],"the":[5,26,32,70,73,76,95,102,105,115,119,126],"problem":[6,127],"of":[7,17,48,72,104,128],"control":[8,53,59,130],"Lyapunov-barrier":[9],"function":[10,55,61,83,107],"(CLBF)-based":[11],"safe":[12,142],"stabilization":[13],"for":[14,25,94,101,131,139],"a":[15,29,41,58,81,85,90,98,132,141],"class":[16],"nonlinear":[18],"control-affine":[19],"systems.":[20],"A":[21],"difficulty":[22],"may":[23],"arise":[24],"case":[27],"when":[28],"constraint":[30],"has":[31],"relative":[33],"degree":[34],"larger":[35],"than":[36],"1,":[37],"at":[38],"which":[39,140],"computing":[40],"proper":[42],"CLBF":[43,120],"is":[44,66,111,146],"not":[45],"straightforward.":[46],"Instead":[47],"adding":[49],"an":[50],"(possibly":[51],"non-existent)":[52],"barrier":[54],"(CBF)":[56],"to":[57,67,108,118,125],"Lyapunov":[60],"(CLF),":[62],"our":[63],"key":[64],"idea":[65],"simply":[68],"scale":[69],"value":[71],"CLF":[74],"on":[75],"unsafe":[77],"set,":[78],"by":[79],"utilizing":[80],"sigmoid":[82,106],"as":[84],"scaling":[86],"factor.":[87],"We":[88],"provide":[89],"systematic":[91],"design":[92,121],"method":[93],"CLBF,":[96],"with":[97,136],"detailed":[99],"condition":[100],"parameters":[103],"satisfy.":[109],"It":[110],"also":[112],"seen":[113],"that":[114],"proposed":[116],"approach":[117],"can":[122],"be":[123],"applied":[124],"task-space":[129],"planar":[133],"robot":[134],"manipulator":[135],"guaranteed":[137],"safety,":[138],"feedback":[143],"linearization-based":[144],"controller":[145],"presented.":[147]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}