Education: ^top

University of Michigan
PhD Aerospace Engineering ’95. Advisor: Harris McClamroch
MA Applied Mathematics ’95
MS Aerospace Engineering ’93

Teaching: ^top

AERO 347 - Space Flight Mechanics
AERO 573 - Spacecraft Dynamics and Control
AERO 575 - Flight and Trajectory Optimization
AERO 551 - Nonlinear Systems and Control
AERO 548 - Astrodynamics
AERO 740 - Nonlinear and Predictive Control

Research Interests: ^top

Professor Kolmanovsky’s research focuses on control of advanced aerospace and automotive systems. His recent publications address challenges in spacecraft orbital and attitude control and in engine and propulsion systems control.

Professor Kolmanovsky’s special area of interests in control theory is control of systems with constraints. With the increasing trend towards system downsizing (smaller satellites, air vehicles, drones, engines, etc.) and the growing stringency of requirements, constraint handling and limit protection are becoming increasingly important and critical for engineered systems. Constraints can represent actuator range/rate limits, safety requirements, operational limits, and stationary and moving obstacle avoidance requirements. While in some cases constraint violation has only benign consequences (e.g. loss of efficiency), it can be catastrophic in others. Effective controllers for systems with constraints must be nonlinear and often predictive, and they have to sufficiently but non-conservatively account for the uncertainty in the operating environment. Professor Kolmanovsky’s and his students research addresses the development of variety of schemes for constraint enforcement, including reference governors, chained invariant set controllers, and drift counteraction optimal controllers. He also conducts research in the area of model predictive control (MPC) and numerical algorithms for real-time optimization that are used in control of constrained systems. He is interested in applications and demonstration of these algorithms on a variety of space, air and ground vehicle platforms.

Biography: ^top

Professor Kolmanovsky is a former graduate of the Department of Aerospace Engineering and has spent close to 15 years of his subsequent professional career at Ford Research and Advanced Engineering. Professor Kolmanovsky re-joined the department as professor in January 2010.

Awards: ^top

HONORS AND AWARDS

• Fellow of IEEE
• 97 United States patents
• SICE Technology Award, 2015
• Outstanding Paper Award of IEEE Transactions on Control Systems Technology, 2016
• Best Paper Award of the IEEE International Conference on Cybernetics, 2013
• ASEE/Air Force Research Laboratory Summer Faculty Fellowship awarded for Spring/Summer 2012
• ASEE/Air Force Research Laboratory Summer Faculty Fellowship awarded for Spring/Summer 2011
• Technical Achievement Award of Ford Research and Advanced Engineering, 2009
• Technical Achievement Award of Ford Research and Advanced Engineering, 2004
• Plenary speaker at 2003 American Control Conference
• Eckman Award of American Automatic Control Council, 2002
• Outstanding Paper Award of IEEE Transactions on Control Systems Technology, 2002
• François-Xavier Bagnoud doctoral fellow (1994-1995)

Publications: ^top

Selected Recent Publications

Control theory for systems with constraints

1. Zidek, R., and Kolmanovsky, I., “Drift counteraction optimal control for deterministic systems and enhancing convergence of value iteration,” Automatica, vol. 83, pp. 108-115, 2017.
2. Kalabic, U., Gupta, R., Di Cairano, S., Bloch, A.M, and Kolmanovsky, I., “MPC on manifolds with application to the control of spacecraft attitude on SO(3),” Automatica, vol. 76, pp. 293-300, 2017.
3. Garone, E., Di Cairano, S., and Kolmanovsky, I., “Reference and command governors for systems with constraints: A survey of their theory and application,” Automatica, vol. 75, pp. 306-328, 2017.
4. Di Cairano, S., Kalabic, U. and Kolmanovsky, I., “Reference governor for network control systems subject to variable time-delay,” Automatica, vol. 62, pp. 77-86, 2015.
5. Vermillion, C., Menezes, A., and Kolmanovsky, I.V., “Stable hierarchical Model Predictive Control using an inner loop reference model and lambda-contractive terminal constraint sets, “Automatica, vol. 50, pp. 92-99, 2014.
6. Kalabic, U., Kolmanovsky, I., and Gilbert, E.G., “Reduced order extended command governor,” Automatica, vol. 50, pp. 1466-1472, 2014.
7. Ghaemi, R., Sun, J., and Kolmanovsky, I., “Robust control of constrained linear systems with bounded disturbances,” IEEE Transactions on Automatic Control, vol. 57, pp. 2683-2688, 2012.
8. Gielen, R.H., Lazar, M., and Kolmanovsky, I., “Lyapunov methods for time-invariant delay difference inclusions,” SIAM Journal on Control and Optimization, vol. 50, pp. 110-132, 2012.
9. Ghaemi, R., Kolmanovsky, I., and Sun, J., “Robust control of linear systems with disturbances bounded in a state dependent set,” IEEE Transactions on Automatic Control, no. 7, pp. 1740-1745, 2011.

Spacecraft control applications

1. Frey, G., Petersen, C., Leve, F., Kolmanovsky, I.V., and Girard, A., “Constrained spacecraft relative motion planning exploiting periodic natural motion trajectories and invariance,” AIAA Journal of Guidance, Control and Dynamics, in press, https://doi.org/10.2514/1.G002914, 2017.
2. Frey, G., Petersen, C., Leve, F., Garone, E., Kolmanovsky, I.V. and Girard, A., “Parameter governors for coordinated control of n-spacecraft formations,” AIAA Journal of Guidance, Control, and Dynamics, https://doi.org/10.2514/1.G002539.
3. Petersen, C., Leve, F., and Kolmanovsky, I., “Model Predictive Control of an underactuated spacecraft with two reaction wheels,” AIAA Journal of Guidance, Dynamics and Control, vol. 40, pp. 320-332, 2017.
4. Taheri, E., Kolmanovsky, I., and Atkins, E., “Enhanced smoothing technique for indirect optimization of minimum-fuel low-thrust trajectories,” AIAA Journal of Guidance, Dynamics and Control, vol. 39, pp. 2500-2511, 2016.
5. Petersen, C., Leve, F., and Kolmanovsky, I., “Recovering linear controllability of an underactuated spacecraft by exploiting solar radiation pressure,” AIAA Journal of Guidance, Control, and Dynamics, vol. 39, pp. 826-837, 2016.
6. Weiss, A., Baldwin, M., Erwin, R.S., Kolmanovsky, I., “Model Predictive Control for spacecraft rendezvous and docking: Strategies for handling constraints and case studies,” IEEE Transactions on Control Systems Technology, vol. 24, pp. 1638-1647, 2015.
7. Weiss, A., Petersen, C., Baldwin, M., Erwin R.S., and Kolmanovsky, I.V., “Safe positively invariant sets for spacecraft obstacle avoidance,” AIAA Journal of Guidance, Control, and Dynamics, vol. 38, pp. 720-732, 2015.
8. Starek, J., and Kolmanovsky, I. “Nonlinear Model Predictive Control strategy for low thrust spacecraft missions,” Optimal Control, Applications and Methods, vol. 35, pp. 1–20, 2014.
9. Weiss A., Kolmanovsky, I.V., Bernstein, D.S., and Sanyal, A., “Inertia-free spacecraft attitude control using reaction wheels,” AIAA Journal of Guidance, Control, and Dynamics, vol. 36, pp. 1425-1439, 2013.
10. Di Cairano, S., Park, H., and Kolmanovsky, I., “Model predictive control approach to guidance of spacecraft rendezvous and proximity maneuvering,” International Journal of Robust and Nonlinear Control, vol. 22, pp. 1398-1427, 2012.

Aircraft control applications

1. Seok, J., Kolmanovsky, I.V. and Girard, A., “Coordinated model predictive control of aircraft gas turbine engine and power system,” AIAA Journal of Guidance, Dynamics and Control, 2017, in press, https://doi.org/10.2514/1.G002562.
2. McDonough, K., and Kolmanovsky, I.V., “Fast computable recoverable sets and their use for aircraft loss-of-control handling,” AIAA Journal of Guidance, Control and Dynamics, vol. 40, pp. 934-947, 2017.
3. Di Donato, P.F.A., Balachandran, S., McDonough, K., Atkins, E., and Kolmanovsky, I.V., “Envelope-aware flight management for loss of control prevention given rudder jam,” AIAA Journal of Guidance, Control, and Dynamics, vol. 40, pp. 1027-1041, 2017.
4. Vermillion, C., Grunnagle, T., Lim, R., and Kolmanovsky, I.V., “Model-based plant design and hierarchical control of a prototype lighter-than-air wind energy system, with experimental flight test results,” IEEE Transactions on Control Systems Technology, vol. 22, pp. 531-542, 2014.

Automotive control applications

1. Li, N., Oyler, D., Zhang, M., Yildiz, Y., Kolmanovsky, I.V. and Girard, A., “Game-theoretic modeling of driver and vehicle interactions for verification and validation of autonomous vehicle control systems,” IEEE Transactions on Control Systems Technology, in press.
2. Li, Z., Kolmanovsky, I.V., Kalabic, U., Atkins, E., Lu, J., and Filev, D., “Optimal state estimation for systems driven by jump-diffusion process with application to road anomaly detection,” IEEE Transactions on Control Systems Technology, vol. 25, no. 5, pp. 1634-1643, 2017
3. Zaseck, K., Brusstar, M., and Kolmanovsky, I.V., “Stability, control, and constraint enforcement of piston motion in a hydraulic free-piston engine,” IEEE Transactions on Control Systems Technology, vol. 25, pp. 1284-1296, 2017.
4. Huang, M., Zaseck, K., Butts, K., and Kolmanovsky, I.V., “Rate-based Model Predictive Controller for diesel engine air path: Design and experimental evaluation,” IEEE Transactions on Control Systems Technology, vol. 24, pp. 1922-1955, 2016.
5. Li, Z., Filev, D., Kolmanovsky, I.V., Atkins, E., Lu, J., “A new clustering algorithm for processing GPS-based road anomaly reports with a Mahalanobis distance,” IEEE Transactions on Intelligent Transportation Systems, vol. 8, pp. 1980-1988, 2016.
6. Li, Z., Kolmanovsky, I.V., Atkins, E., Lu, J., Filev, D., and Michelini, J., “Road risk modeling and cloud aided safety-based route planning,” IEEE Transactions on Cybernetics, vol. 46, pp. 2473-2483, 2016.
7. Filev, D.P., and Kolmanovsky, I.V., “Generalized Markov models for real time modeling of continuous systems,” IEEE Transactions of Fuzzy Systems, vol. 22, pp. 983-998, 2014.
8. Di Cairano, S., Bernardini, D., Bemporad, A., Kolmanovsky, I.V., “A stochastic MPC with learning framework for driver-aware vehicle control, and its application to HEV energy management,” IEEE Transactions on Control Systems Technology, vol. 22, pp. 1018 – 1031, 2014.
9. Dextreit, C., and Kolmanovsky, I.V., “Game theory controller for hybrid electric vehicles,” IEEE Transactions on Control Systems Technology, vol. 22, pp. 652-663, 2014.