  We propose a novel (Type-II) zeroing control barrier function (ZCBF) for
safety-critical control, which generalizes the original ZCBF approach. Our
method allows for applications to a larger class of systems (e.g.
passivity-based) while still ensuring robustness, for which the construction of
conventional ZCBFs is difficult. We also propose a locally Lipschitz continuous
control law that handles multiple ZCBFs, while respecting input constraints,
which is not currently possible with existing ZCBF methods. We apply the
proposed concept for unicycle navigation in an obstacle-rich environment.
