# Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach

> Research article (2020 59th IEEE Conference on Decision and Control (CDC), 2020) · cited 18× · AI/ML

**Wikidata**: [openalex:W3016087632](https://www.wikidata.org/wiki/openalex:W3016087632)  
**Source**: https://4ort.xyz/entity/strong-invariance-using-control-barrier-functions-a-clarke-tangent-cone-approach