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We propose a real-time control strategy that combines self-triggered controlwith Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF).Similar to related works proposing CLF-CBF-based controllers, the computationof the controller is achieved by solving a Quadratic Program (QP). However, wepropose a Zeroth-Order Hold (ZOH) implementation of the controller thatovercomes the main limitations of traditional approaches based on periodiccontrollers, i.e., unnecessary controller updates and potential violations ofthe safety constraints. Central to our approach is the novel notion of safeperiod, which enforces a strong safety guarantee for implementing ZOH control.In addition, we prove that the system does not exhibit a Zeno behavior as itapproaches the desired equilibrium.

Self-triggered Control for Safety Critical Systems using Control Barrier Functions