# A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

> Research article (IEEE Control Systems Letters, 2021) · cited 30× · AI/ML

**Wikidata**: [openalex:W4205749794](https://www.wikidata.org/wiki/openalex:W4205749794)  
**Source**: https://4ort.xyz/entity/a-robust-multiple-control-barrier-function-framework-for-input-constrained-systems