Robust ICBF with Dynamics Uncertainty

Background: Safety-critical control frameworks that rely on a predicted state to compensate for input delay must account for uncertainty in the prediction, which introduces a bounded disturbance into the control law dynamics.

Question / Future Work: Extending the robust Integral Control Barrier Function (ICBF) framework to address scenarios where the true system dynamics $\mathbf{f}$ (and not just the delay $\tau$) are uncertain, leading to a more complex disturbance $\mathbf{d}$ in the integral control law dynamics (26).