Safety-Critical Control With Input Delay in Dynamic Environment
Open accessAbstract
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that operate in dynamically changing environments. This article develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). Importantly, the framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control (ACC) problem and a more complex robotics application on a Segway platform.
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Servo-Controllers for Linear Time-Invariant Systems with Operational Constraints
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“To address the impact of delays on safety, recent works extend CBFs to input-delayed linear [7] and nonlinear systems [8], [9] using state prediction-based feedback controller [10].”
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Self-citationGaagai, R., & Horn, J. (2024) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc56724.2024.10886512 · Cited by 1 · see citing works
Learning Teleoperated Driving Behavior from Limited Trajectory Data
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Self-citationReactive Multiobstacle Avoidance for Underactuated Marine Vehicles
Haraldsen, A., Wiig, M. S., & Pettersen, K. Y. (2025) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2025.3635696 · Cited by 1 · see citing works
Safety constrained digital control of nonlinear systems with state delays
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Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation
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Nonlinear Predictor-Feedback Cooperative Adaptive Cruise Control
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Safe Delay-Compensated Control With Nonlinear Actuator Dynamics
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Delay-adaptive Control of Nonlinear Systems with Approximate Neural Operator Predictors
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“These approaches have proven effective across diverse applications such as traffic control [9,10], aerospace vehicles [11,12], and robotics [13–15].”
Integral Control Barrier Functions With Input Delay: Prediction, Feasibility, and Robustness
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Self-citationRobust Safety-Critical Control for Systems with Actuation Uncertainty
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Global Feedback Control for Nonlinear Affine Systems Defined on Time-Varying Parameterized Manifolds
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Energy-Critical Control Using Control Barrier Functions
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Self-citationSafety Control of Time-Delay Systems with Input Disturbances in Dynamic Environments
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Adaptive control of strict-feedback nonlinear systems with output constraints and input delays
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Output Feedback Control of Safety-Critical Systems with Continuous Twisting Algorithm
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Trajectory Optimization of Stochastic Systems under Chance Constraints via Set Erosion
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Dissipative and safe bilateral teleoperation system for a UAV using control barrier functions
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Interaction-Aware Predictive Environmental Control Barrier Function for Emergency Lane Change
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A Duality-Based Optimization Formulation of Safe Control Design With State Uncertainties
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Advances in Cyber-Physical System Security: Methods and Applications
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Preserving Passivity Under Safety Guarantee for Nonlinear Systems with Input Delay
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Terminal sampled supervision under bilinear command couplings and delayed commands
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The dynamics of electric unicycles with human rider: modelling and experiments
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Self-citation
- Authors
- Molnar, T. G., Kiss, A. K., Ames, A. D., & Orosz, G.
- Affiliations
- Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA
- Budapest University of Technology and Economics (HU)
- California Institute of Technology (US)
- University of Michigan (US)
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2023-07
- Volume
- 31
- Issue
- 4
- Pages
- 1507-1520
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- 2374-0159
- OpenAlex
- W4312427786
- Cited by
- 83
- References
- 57
- Citations by year
- 2026: 15 · 2025: 22 · 2024: 27 · 2023: 15 · 2022: 4
- FWCI
- 9.20
- Type
- journal article
- Language
- en
- Open access
- green
- arxiv.org
- Licence
- Locations
- IEEE Transactions on Control Systems Technology (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- CaltechAUTHORS (California Institute of Technology) (submittedVersion, cc-by)
- CaltechAUTHORS (California Institute of Technology) (submittedVersion)
- arXiv (Cornell University) (cc-by)
- Funders
- National Science Foundation (CPS Award #1932091)
- Aerovironment and Dow (#227027AT)
- Nemzeti Kutatási, Fejlesztési és Innovaciós Alap (TKP2020 IES, #No. BME-IE-MIFM and TKP2020 NC, #No BME-NC)
- Topics
- Physical Sciences › Computer Science › Computational Theory and Mathematics › Formal Methods in Verification
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- safety-critical control, input delay, dynamic environments, nonlinear systems, safety guarantees, prediction error, adaptive cruise control
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