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A Comprehensive Review on Control Barrier Functions: Uncertainty Handling, Design Optimization, and Feasibility

Shanshan Zhao, Zheng Yan, Tingwen Huang

    IEEE Transactions on Cybernetics
    |November 25, 2025
    PubMed
    Summary

    Control barrier functions (CBFs) ensure safety in control-affine systems. This review details advancements in handling uncertainty, optimizing structure, and assuring feasibility for practical CBF applications in robotics and autonomous systems.

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