# ESO-Based Safety-Critical Control for Robotic Systems With Unmeasured Velocity and Input Delay

> Research article (IEEE Transactions on Industrial Electronics, 2024) · cited 13× · AI/ML

**Wikidata**: [openalex:W4390956157](https://www.wikidata.org/wiki/openalex:W4390956157)  
**Source**: https://4ort.xyz/entity/eso-based-safety-critical-control-for-robotic-systems-with-unmeasured-velocity-and-input-delay