Abstract:This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state delay. The notion of control barrier functionals is introduced, to attain formal safety guarantees by enforcing the forward invariance of safe sets defined in the infinite dimensional state space. The proposed framework is able to handle multiple delays and distributed delays bo… Show more
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