Safety Control of Time-Delay Systems with Input Disturbances in Dynamic Environments

To ensure the safe control of complex systems in real-world scenarios, it becomes essential to establish their robustness in dynamic environments while accounting for uncertainties within the system. This paper places specific emphasis on the safety of systems exposed to input disturbances in dynamic environments. This paper proposes the concept of tunable input-to-state safe environmental control barrier functions (TISSf-ECBFs) to facilitate the attainment of secure control within such systems. Even when dealing with input delays, this paper guarantees system safety through the implementation of appropriate predictors. The efficacy of the proposed approach is ultimately showcased within the domain of an adaptive cruise control (ACC) ploblem.