Integral Control Barrier Functions With Input Delay: Prediction, Feasibility, and Robustness
Abstract
Click on the DOI link to access this article at the publishers website (may not be free).
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Cites
Control Barrier Function Based Quadratic Programs for Safety Critical Systems
Ames, A. D., Xu, X., Grizzle, J. W., & Tabuada, P. (2016) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2016.2638961 · Cited by 2,682 · see citing works
Self-citationControl Barrier Functions: Theory and Applications
Ames, A. D., Coogan, S., Egerstedt, M., Notomista, G., Sreenath, K., & Tabuada, P. (2019) · European Control Conference (ECC) · doi:10.23919/ecc.2019.8796030 · Cited by 2,032 · see citing works
Self-citationDelay Compensation for Nonlinear, Adaptive, and PDE Systems
Krstić, M. (2009) · Systems & control · doi:10.1007/978-0-8176-4877-0 · Cited by 1,064 · see citing works
Input-to-State Safety With Control Barrier Functions
Kolathaya, S., & Ames, A. D. (2018) · IEEE Control Systems Letters · doi:10.1109/lcsys.2018.2853698 · Cited by 331 · see citing works
Self-citationSafe Controller Synthesis With Tunable Input-to-State Safe Control Barrier Functions
Alan, A., Taylor, A. J., He, C. R., Orosz, G., & Ames, A. D. (2021) · IEEE Control Systems Letters · doi:10.1109/lcsys.2021.3087443 · Cited by 124 · see citing works
Self-citationSafety-Critical Control With Input Delay in Dynamic Environment
Molnar, T. G., Kiss, A. K., Ames, A. D., & Orosz, G. (2023) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3227451 · Cited by 83 · see citing works
Self-citationIntegral Control Barrier Functions for Dynamically Defined Control Laws
Ames, A. D., Notomista, G., Wardi, Y., & Egerstedt, M. (2020) · IEEE Control Systems Letters · doi:10.1109/lcsys.2020.3006764 · Cited by 65 · see citing works
Self-citationComposing Control Barrier Functions for Complex Safety Specifications
Molnár, T. G., & Ames, A. D. (2023) · IEEE Control Systems Letters · doi:10.1109/lcsys.2023.3339719 · Cited by 65 · see citing works
Self-citationOn the undesired equilibria induced by control barrier function based quadratic programs
Tan, X., & Dimarogonas, D. V. (2023) · Automatica · doi:10.1016/j.automatica.2023.111359 · Cited by 52 · see citing works
Control Barrier Functions With Unmodeled Input Dynamics Using Integral Quadratic Constraints
Seiler, P. J., Janković, M., & Hellström, E. (2021) · IEEE Control Systems Letters · doi:10.1109/lcsys.2021.3130782 · Cited by 41 · see citing works
A Robust Safety–Critical Control Framework for Control Affine Systems With Applications to AUVs
Jiang, Y., Wang, C., Li, B., Song, L., & Guan, X. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3427372 · Cited by 30 · see citing works
Input-to-State Safety with Input Delay in Longitudinal Vehicle Control
Molnar, T. G., Alan, A., Kiss, A. K., Ames, A. D., & Orosz, G. (2022) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2022.11.376 · Cited by 19 · see citing works
Self-citationDaş, E., Ames, A. D., & Burdick, J. W. (2024) · IEEE Control Systems Letters · doi:10.1109/lcsys.2024.3416239 · Cited by 9 · see citing works
Self-citationXiong, Y., Zhai, D., & Xia, Y. (2025) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2025.3574342 · Cited by 8 · see citing works
Tube-Based Control Barrier Function With Integral Quadratic Constraints for Unknown Input Delay
Quan, Y. S., Kim, J. S., Lee, S.-H., et al. (2023) · IEEE Control Systems Letters · doi:10.1109/lcsys.2023.3278688 · Cited by 6 · see citing works
Constrained control of multi‐input systems with distinct input delays
Abel, I., Janković, M., & Krstić, M. (2024) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.7187 · Cited by 6 · see citing works
Safe Quadrotor Navigation Using Composite Control Barrier Functions
Harms, M., Jacquet, M., & Alexis, K. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127368 · Cited by 4 · see citing works
Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
Cohen, M. H., Lavretsky, E., & Ames, A. D. (2025) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc57313.2025.11312445 · Cited by 4 · see citing works
Self-citationSafe Navigation Under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
Daş, E., Nanayakkara, R., Tan, X., Bena, R. M., Burdick, J. W., Tabuada, P., & Ames, A. D. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3653366 · Cited by 3 · see citing works
Self-citationFrom Vertices to Convex Hulls: Certifying Set-Wise Compatibility for CBF Constraints
Mousavi, S. S., Tan, X., & Ames, A. D. (2025) · IEEE Control Systems Letters · doi:10.1109/lcsys.2025.3648436 · Cited by 2 · see citing works
Self-citationKim, Y., Das, E., Kim, J., Ames, A. D., Burdick, J. W., & Sloth, C. (2024) · arXiv · doi:10.48550/arxiv.2411.17277 · Cited by 1 · cited 1× · see citing works
“Robustness to this error can be achieved through integral quadratic constraints [9], [10], input-to-state safety [11], or robust CBFs [12], [13], while online delay estimation may further reduce conservatism [14].”
Self-citationExplicit Control Barrier Function-based Safety Filters and their Resource-Aware ComputationPreprint
Mestres, P., Mousavi, S. S., Ong, P., Yang, L., Daş, E., Burdick, J. W., & Ames, A. D. (2025) · arXiv (Cornell University) · doi:10.48550/arxiv.2512.10118
Self-citationSafety Under State Uncertainty: Robustifying Control Barrier FunctionsPreprint
Nanayakkara, R., Ames, A. D., & Tabuada, P. (2025) · arXiv (Cornell University) · doi:10.48550/arxiv.2508.17226
Self-citation
Flagged first, then by citations
Cited by
Still being checked.
- Authors
- Kiss, A. K., Das, E., Molnar, T. G., & Ames, A. D.
- Affiliations
- Budapest University of Technology and Economics (HU)
- Illinois Institute of Technology
- Wichita State University
- California Institute of Technology (US)
- Venue
- IEEE Control Systems Letters
- Published
- 2026
- Volume
- 10
- Pages
- 2077-2082
- ISSN
- 2475-1456 (ISSN-L)
- OpenAlex
- W7169759983
- Cited by
- 0
- References
- 23
- FWCI
- 0.00
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Control Systems Letters (publishedVersion)
- Holmes Museum Of Anthropology (Wichita State University) (submittedVersion)
- Funders
- National Research, Development and Innovation Office (NRDI Office) under the National Research Excellence Programme
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Computer Science › Computational Theory and Mathematics › Formal Methods in Verification
- Keywords
- input delay, safety-critical control, feasibility study, robustness, model predictive control, time-delay systems
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
