Control characters in Unicode are at codepoints U+0000 through U+001F and U+007F through U+009F. Use a RegExp to find those control characters and replace them with an empty string:
str.replace(/[\u0000-\u001F\u007F-\u009F]/g, "")
If you want to remove additional characters, add the characters to the character class inside the RegExp. For example, to remove U+200B ZERO WIDTH SPACE as well, add \u200B
before the ]
.