Unverified
2026
Delayed hysteretic residual mixer
Insert a two-mode residual mixer whose mode is selected by a delayed sign variable rather than an instantaneous sign or sigmoid. The delayed mode creates a hysteresis-like effect that prevents high-frequency switching when the latent state is close to the decision surface, while the paper's reduced equations provide a constraint for choosing the delay and mixing strength so the latent energy contracts.
Paper: Delay effects on the discontinuous stabilization of the nonholonomic integrator and its generalizations
arXiv:2607.01386