A Caltech Library Service

Safety-Critical Control with Input Delay in Dynamic Environment

Molnar, Tamas G. and Kiss, Adam K. and Ames, Aaron D. and Orosz, Gábor (2021) Safety-Critical Control with Input Delay in Dynamic Environment. . (Unpublished)

[img] PDF - Submitted Version
Creative Commons Attribution.


Use this Persistent URL to link to this item:


Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). 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 problem and a more complex robotics application on a Segway platform.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper ItemJournal Article
Molnar, Tamas G.0000-0002-9379-7121
Kiss, Adam K.0000-0002-7074-4553
Ames, Aaron D.0000-0003-0848-3177
Orosz, Gábor0000-0002-9000-3736
Additional Information:Attribution 4.0 International (CC BY 4.0). This research is supported in part by the National Science Foundation (CPS Award #1932091), Aerovironment and Dow (#227027AT), and supported by the NRDI Fund (TKP2020 IES, Grant No. BME-IE-MIFM and TKP2020 NC, Grant No. BME-NC).
Funding AgencyGrant Number
Dow Chemical Company227027AT
Subject Keywords:Delay systems, Dynamic environment, Predictive control, Robust control, Safety-critical control
Record Number:CaltechAUTHORS:20220224-200840486
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:113588
Deposited By: George Porter
Deposited On:28 Feb 2022 17:23
Last Modified:30 Jan 2023 17:19

Repository Staff Only: item control page