# Sampling-Aware Control Barrier Functions for Safety-Critical and Finite-Time Constrained Control

arXiv: https://arxiv.org/abs/2511.11897 · HTML: https://mlsanity.com/paper/2511.11897/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Nov 2025.

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

- [Feasibility-aware Learning of Robust Temporal Logic Controllers using BarrierNet](https://mlsanity.com/paper/2512.06973/) (2025)

## Abstract (arXiv)

In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (CBF) frameworks, such as High-Order CBFs (HOCBFs), effectively guarantee safety in continuous time but may become unsafe when executed under zero-order-hold (ZOH) controllers due to inter-sampling effects. Moreover, they do not explicitly handle finite-time reach-and-remain requirements or multiple simultaneous constraints, which often lead to conflicts between safety and reach-and-remain objectives, resulting in feasibility issues during control synthesis. This paper introduces Sampling-Aware Control Barrier Functions (SACBFs), a unified framework that accounts for sampling effects and high relative-degree constraints by estimating and incorporating Taylor-based upper bounds on barrier evolution between sampling instants. The proposed method guarantees continuous-time forward invariance of safety and finite-time reach-and-remain sets under ZOH control. To further improve feasibility, a relaxed variant (r-SACBF) introduces slack variables for handling multiple constraints realized through time-varying CBFs. Simulation studies on a unicycle robot demonstrate that SACBFs achieve safe and feasible performance in scenarios where traditional HOCBF methods fail.