Control barrier functions (CBFs) provide a powerful tool for enforcing safety constraints in control systems, but their direct application to complex, high-dimensional dynamics is often challenging. In many settings, safety certificates are more naturally designed for simplified or alternative system models that do not exactly match the dynamics of interest. This paper addresses the problem of transferring safety guarantees between dynamical systems with mismatched dynamics. We propose a transferred control barrier function (tCBF) framework that enables safety constraints defined on one system to be systematically enforced on another system using a simulation function and an explicit margin term. The resulting transferred barrier accounts for model mismatch and induces a safety condition that can be enforced on the target system via a quadratic-program-based safety filter. The proposed approach is general and does not require the two systems to share the same state dimension or dynamics. We demonstrate the effectiveness of the framework on a quadrotor navigation task with the transferred barrier ensuring collision avoidance for the target system, while remaining minimally invasive to a nominal controller. These results highlight the potential of transferred control barrier functions as a general mechanism for enforcing safety across heterogeneous dynamical systems.

翻译：控制屏障函数（CBF）为在控制系统中强制执行安全约束提供了强大工具，但其直接应用于复杂的高维动力学系统通常具有挑战性。在许多场景中，安全证书更自然地是为简化或替代的系统模型设计的，而这些模型并不完全匹配所关注的动力学。本文研究了具有不匹配动力学的动力系统之间安全保证的迁移问题。我们提出了一种迁移控制屏障函数（tCBF）框架，该框架利用一个仿真函数和一个显式裕度项，使得在一个系统上定义的安全约束能够被系统地强制执行于另一个系统。由此产生的迁移屏障考虑了模型失配，并导出了一个可通过基于二次规划的安全滤波器在目标系统上强制执行的安全条件。所提出的方法具有通用性，不要求两个系统具有相同的状态维度或动力学。我们在一个四旋翼飞行器导航任务上验证了该框架的有效性，其中迁移屏障确保了目标系统的避碰安全，同时对标称控制器保持最小侵入性。这些结果凸显了迁移控制屏障函数作为一种在异构动力系统间强制执行安全的通用机制的潜力。