Seonglae ChoFor dynamics $\dot z = F(z) + G(z)u$, a control barrier function (CBF) enforces forward invariance of the safe set by choosing the control input such that, approximately,
is satisfied.
Here, $z$ is the system state, $F, G$ define the dynamics, $u$ is the control input, $h$ is the safety function, and $\alpha$ is a class- relaxation function. This definition follows the CBF-QP paper by Ames et al.
Control Barrier Functions
