Safety control for input time-delay systems via observer-predictors

We address the problem of safety control for nonlinear systems with input delay within the framework of Control Barrier Functions. In contrast to what is already reported in the literature, we approach the problem under the observer-predictor scheme, which avoids the implementation of distributed terms in the controller. We lay the foundations for guaranteeing the safety of the closed-loop system when there are perturbations and the delay is known. The presented results are illustrated and discussed by numerical simulations.