  This paper provides an approach to design control barrier functions (CBFs)
using the notion of dynamic safety margins (DSMs). In particular, it is shown
that DSMs are CBFs for an augmented system. The proposed approach can handle
multiple state and input constraints using the control-sharing property of
CBFs. Moreover, it makes no assumption on the relative degree of the
constraints. Numerical simulations show that the method outperforms existing
DSM-based approaches, while also guaranteeing safety and recursive feasibility.
