# Robust Control Barrier Functions for Nonlinear Control Systems with Uncertainty: A Duality-based Approach

> Research article (2022 IEEE 61st Conference on Decision and Control (CDC), 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4315472218](https://www.wikidata.org/wiki/openalex:W4315472218)  
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