# Safety-Critical Event Triggered Control via Input-to-State Safe Barrier Functions

arXiv: https://arxiv.org/abs/2003.06963 · HTML: https://mlsanity.com/paper/2003.06963/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 16 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Robust Taylor-Lagrange Control for Safety-Critical Systems](https://mlsanity.com/paper/2602.20076/) (2026)

## Abstract (arXiv)

The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a system. The goal of this paper is to carry out this vision by combining event-triggered and safety-critical control design. We discuss how a direct transcription, in the context of safety, of event-triggered methods for stabilization may result in designs that are not implementable on real hardware due to the lack of a minimum interevent time. We provide a counterexample showing this phenomena and, building on the insight gained, propose an event-triggered control approach via Input to State Safe Barrier Functions that achieves safety while ensuring that interevent times are uniformly lower bounded. We illustrate our results in simulation.