# Safe Backstepping with Control Barrier Functions

> Research article (2022 IEEE 61st Conference on Decision and Control (CDC), 2022) · cited 45× · AI/ML

**Wikidata**: [openalex:W4315472240](https://www.wikidata.org/wiki/openalex:W4315472240)  
**Source**: https://4ort.xyz/entity/safe-backstepping-with-control-barrier-functions