Uros Kalabic

Uros Kalabic
  • Biography

    Uros works on advancements in the theory of predictive control and constrained control, as well as its applications to the control of automotive and aerospace systems. His dissertation dealt with theoretical developments and practical applications of reference governors. Prior to joining MERL, Uros interned at MERL and at Ford Motor Company.

  • News & Events


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  • Internships with Uros

    • ME1134: Traffic Control

      MERL is seeking a highly motivated individual for collaboration on control of vehicle traffic. The successful candidate will be an advanced graduate student with extensive knowledge of traffic control, preferably with experience in the following areas: modeling and control of dynamical systems, or autonomous vehicle dynamics and control. The duration of the internship will be at least 3 months, with a start date in the Spring, Summer or Fall of 2018.

    • ME1164: Vehicle control with human factors

      MERL is seeking a highly motivated individual for collaboration and experimentation on control for automotive vehicles. The successful candidate will be an advanced graduate student with extensive knowledge of control theory and practice, or machine learning. He or she will preferably have experience in the following areas: vehicle dynamics and control or human factors in control. The duration of the internship will be at least 3 months, with a start date in the Spring, Summer or Fall of 2018.

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  • MERL Publications

    •  Halder, U., Kalabic, U., "Time-Optimal Solution for a Unicycle Path on SE(2) with a Penalty on Curvature", IFAC World Congress, July 2017.
    •  Kalabic, U., Goldsmith, A.M., Di Cairano, S., "Extended Command Governors for Constraint Enforcement in Dual-Stage Processing Machines", American Control Conference (ACC), May 2017.
    •  Di Cairano, S., Kalabic, U., Berntorp, K., "Vehicle Tracking Control on Piecewise-Clothoidal Trajectories by MPC with Guaranteed Error Bounds", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/CDC.2016.7798351, December 2016, pp. 709-714.
    •  Di Cairano, S.; Kalabic, U.; Kolmanovsky, I.V., "Reference Governor for Network Control Systems Subject to Variable Time-Delay", Automatica (Journal of IFAC), DOI: 10.1016/j.automatica.2015.09.006, Vol. 62, No. C, pp. 77-86, December 2015.
      BibTeX Download PDFRead TR2015-154
      • @article{DiCairano2015dec1,
      • author = {{Di Cairano}, S. and Kalabic, U. and Kolmanovsky, I.V.},
      • title = {Reference Governor for Network Control Systems Subject to Variable Time-Delay},
      • journal = {Automatica (Journal of IFAC)},
      • year = 2015,
      • volume = 62,
      • number = {C},
      • pages = {77--86},
      • month = dec,
      • doi = {10.1016/j.automatica.2015.09.006},
      • url = {http://www.merl.com/publications/TR2015-154}
      • }
    •  Gupta, R.; Kalabic, U.; Di Cairano, S.; Kolmanovsky, I.V.; Bloch, A., "Constrained Spacecraft Attitude Control on SO(3) Using Fast Nonlinear Model Predictive Control", American Control Conference (ACC), DOI: 10.1109/ACC.2015.7171188, ISBN: 978-1-4799-8685-9, July 2015, pp. 2980-2986.
      BibTeX Download PDFRead TR2015-066
      • @inproceedings{Gupta2015jul,
      • author = {Gupta, R. and Kalabic, U. and {Di Cairano}, S. and Kolmanovsky, I.V. and Bloch, A.},
      • title = {Constrained Spacecraft Attitude Control on SO(3) Using Fast Nonlinear Model Predictive Control},
      • booktitle = {American Control Conference (ACC)},
      • year = 2015,
      • pages = {2980--2986},
      • month = jul,
      • publisher = {IEEE},
      • doi = {10.1109/ACC.2015.7171188},
      • isbn = {978-1-4799-8685-9},
      • url = {http://www.merl.com/publications/TR2015-066}
      • }
    See All Publications for Uros
  • Other Publications

    •  Kalabic, U. V.; Kolmanovsky, I. V.; Gilbert, E. G., "Reduced order extended command governors", Automatica, Vol. 50, No. 5, pp. 1466-1472, 2014.
      BibTeX
      • @Article{kalabickolmano14,
      • author = {Kalabic, U. V. and Kolmanovsky, I. V. and Gilbert, E. G.},
      • title = {Reduced order extended command governors},
      • journal = {Automatica},
      • year = 2014,
      • volume = 50,
      • number = 5,
      • pages = {1466--1472}
      • }
    •  Kalabic, U.; Kolmanovsky, I., "Reference and command governors for systems with slowly time-varying references and time-dependent constraints", Proc. IEEE Conf. Decision and Control, Dec. 2014, pp. 6701-6706.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc14,
      • author = {Kalabic, U. and Kolmanovsky, I.},
      • title = {Reference and command governors for systems with slowly time-varying references and time-dependent constraints},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2014,
      • pages = {6701--6706},
      • address = {Los Angeles, CA},
      • month = {Dec.}
      • }
    •  Li, Q.; Kalabic, U. V.; Kolmanovsky, I. V., "Fast reference governors for second-order linear systems with constraints and an input time-delay", Automatica, Vol. 50, No. 2, pp. 641-645, 2014.
      BibTeX
      • @Article{likalabic14,
      • author = {Li, Q. and Kalabic, U. V. and Kolmanovsky, I. V.},
      • title = {Fast reference governors for second-order linear systems with constraints and an input time-delay},
      • journal = {Automatica},
      • year = 2014,
      • volume = 50,
      • number = 2,
      • pages = {641--645}
      • }
    •  Li, Q.; Kalabic, U.; Kolmanovsky, I., "Predictor-based reference governor for second-order linear constrained systems operated over a communication network", Proc. World Congress Intelligent Control Autom., Jun. 2014, pp. 1700-1704.
      BibTeX
      • @Inproceedings{likalabic_wcica14,
      • author = {Li, Q. and Kalabic, U. and Kolmanovsky, I.},
      • title = {Predictor-based reference governor for second-order linear constrained systems operated over a communication network},
      • booktitle = {Proc. World Congress Intelligent Control Autom.},
      • year = 2014,
      • pages = {1700--1704},
      • address = {Shenyang, China},
      • month = {Jun.}
      • }
    •  Poloni, T.; Kalabic, U.; McDonough, K.; Kolmanovsky, I., "Disturbance canceling control based on simple input observers with constraint enforcement for aerospace applications", Proc. IEEE Conf. Control Applicat., Sep. 2014, pp. 158-165.
      BibTeX
      • @Inproceedings{polonikalabic_msc14,
      • author = {Poloni, T. and Kalabic, U. and McDonough, K. and Kolmanovsky, I.},
      • title = {Disturbance canceling control based on simple input observers with constraint enforcement for aerospace applications},
      • booktitle = {Proc. IEEE Conf. Control Applicat.},
      • year = 2014,
      • pages = {158--165},
      • address = {Antibes, France},
      • month = {Sep.}
      • }
    •  Dillsaver, M. J.; Kalabic, U. V.; Kolmanovsky, I. V.; Cesnik, C. E. S., "Constrained Control of very flexible aircraft using reference and extended command governors", Proc. American Control Conf., Jun. 2013, pp. 1608-1613.
      BibTeX
      • @Inproceedings{dillsavkalabic_acc13,
      • author = {Dillsaver, M. J. and Kalabic, U. V. and Kolmanovsky, I. V. and Cesnik, C. E. S.},
      • title = {Constrained Control of very flexible aircraft using reference and extended command governors},
      • booktitle = {Proc. American Control Conf.},
      • year = 2013,
      • pages = {1608--1613},
      • address = {Washington, DC},
      • month = {Jun.}
      • }
    •  Kalabic, U.; Chitalia, Y.; Buckland, J.; Kolmanovsky, I., "Prioritization schemes for reference and command governors", Proc. European Control Conf., Jul. 2013, pp. 2734-2739.
      BibTeX
      • @Inproceedings{kalabicchitali_ecc13,
      • author = {Kalabic, U. and Chitalia, Y. and Buckland, J. and Kolmanovsky, I.},
      • title = {Prioritization schemes for reference and command governors},
      • booktitle = {Proc. European Control Conf.},
      • year = 2013,
      • pages = {2734--2739},
      • address = {Zurich, Switzerland},
      • month = {Jul.}
      • }
    •  Kalabic, U.; Kolmanovsky, I., "Decentralized constraint enforcement using reference governors", Proc. IEEE Conf. Decision and Control, Dec. 2013, pp. 6415-6421.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc13,
      • author = {Kalabic, U. and Kolmanovsky, I.},
      • title = {Decentralized constraint enforcement using reference governors},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2013,
      • pages = {6415--6421},
      • address = {Florence, Italy},
      • month = {Dec.}
      • }
    •  Kalabic, U.; Kolmaonvsky, I.; Buckland, J., "Multi-input observer for estimation of compressor flow", Proc. ASME Dynamic Syst. Control Conf., Oct. 2013, pp. DSCC2013-3731.
      BibTeX
      • @Inproceedings{kalabickolmano_dscc13,
      • author = {Kalabic, U. and Kolmaonvsky, I. and Buckland, J.},
      • title = {Multi-input observer for estimation of compressor flow},
      • booktitle = {Proc. ASME Dynamic Syst. Control Conf.},
      • year = 2013,
      • pages = {DSCC2013--3731},
      • address = {Palo Alto, CA},
      • month = {Oct.}
      • }
    •  Kalabic, U.; Vermillion, C.; Kolmanovsky, I., "Reference governor design for computationally efficient attitude and tether tension constraint enforcement on a lighter-than-air wind energy system", Proc. European Control Conf., Jul. 2013, pp. 1004-1010.
      BibTeX
      • @Inproceedings{kalabicvermill_ecc13,
      • author = {Kalabic, U. and Vermillion, C. and Kolmanovsky, I.},
      • title = {Reference governor design for computationally efficient attitude and tether tension constraint enforcement on a lighter-than-air wind energy system},
      • booktitle = {Proc. European Control Conf.},
      • year = 2013,
      • pages = {1004--1010},
      • address = {Zurich, Switzerland},
      • month = {Jul.}
      • }
    •  Kalabic, U.; Kolmanovsky, I.; Buckland, J.; Gilbert, E., "Reduced Order Reference Governor", Proc. IEEE Conf. Decision and Control, Dec. 2012, pp. 3245-3251.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc12,
      • author = {Kalabic, U. and Kolmanovsky, I. and Buckland, J. and Gilbert, E.},
      • title = {Reduced Order Reference Governor},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2012,
      • pages = {3245--3251},
      • address = {Maui, HI},
      • month = {Dec.}
      • }
    •  Kolmanovsky, I.; Kalabic, U.; Gilbert, E., "Developments in constrained control using reference governors", Proc. Nonlinear Model Predictive Control Conf., Aug. 2012, pp. 282-290.
      BibTeX
      • @Inproceedings{kolmanokalabic_nmpc12,
      • author = {Kolmanovsky, I. and Kalabic, U. and Gilbert, E.},
      • title = {Developments in constrained control using reference governors},
      • booktitle = {Proc. Nonlinear Model Predictive Control Conf.},
      • year = 2012,
      • pages = {282--290},
      • address = {Noordwijkerhout, Netherlands},
      • month = {Aug.}
      • }
    •  Kalabic, U.; Kolmanovsky, I.; Gilbert, E., "Reference Governors with Nonlinear Constraints", Proc. IEEE Conf. Decision and Control, Dec. 2011, pp. 2680-2686.
      BibTeX
      • @Inproceedings{kalabickolmano_cdc11,
      • author = {Kalabic, U. and Kolmanovsky, I. and Gilbert, E.},
      • title = {Reference Governors with Nonlinear Constraints},
      • booktitle = {Proc. IEEE Conf. Decision and Control},
      • year = 2011,
      • pages = {2680--2686},
      • address = {Orlando, FL},
      • month = {Dec.}
      • }
    •  Kalabic, U.; Kolmanovsky, I.; Buckland, J.; Gilbert, E., "Reference and extended command governors for control of turbocharged gasoline engines based on linear models", Proc. IEEE Int. Conf. Control Applicat., Sep. 2011, pp. 319-325.
      BibTeX
      • @Inproceedings{kalabickolmano_msc11,
      • author = {Kalabic, U. and Kolmanovsky, I. and Buckland, J. and Gilbert, E.},
      • title = {Reference and extended command governors for control of turbocharged gasoline engines based on linear models},
      • booktitle = {Proc. IEEE Int. Conf. Control Applicat.},
      • year = 2011,
      • pages = {319--325},
      • address = {Denver, CO},
      • month = {Sep.}
      • }
  • Videos

  • MERL Issued Patents

    • Title: "Model Predictive Control of Spacecraft"
      Inventors: Weiss, Avishai; Di Cairano, Stefano; Kalabic, Uros
      Patent No.: 9,764,858
      Issue Date: Sep 19, 2017
    See All Patents for MERL