Takeshi Hatanaka

Associate Professor

Our group is working on cyber-physical & human systems, interconnected systems of mutually interacting cyber, physical and human components, for a variety of large-scale systems including networked robotics/mobility and aggregated building energy management systems. In particular, we study in an effort to work out fundamental principles to coordinate human/society and highly-networked control systems to ensure optimality and robustness via distributed decision-makings. Besides theory-oriented work, we are also addressing social implementation of networked robotics through interdisciplinary collaborative research projects, and developing cyber-physical campus/traffic simulators capable of implementing real-time feedback.


Cyber-Physical & Social Systems


Cyber-Physical & Human Systems


Networked Robotics


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Research Interest


2 Master and 1 Bachelor students completed their degrees


Our paper won SICE Outstanding Paper Award


M. Horikawa won SSS Matching Workshop Best Seed Award



2 PhD, 3 Master, and 2 Bachelor students completed their degrees


Our paper won the Best Research Paper Award for IFAC CPHS



Our paper won SICE Outstanding Paper Award/Takeda Prize


S. Yamashita won Outstanding Presentation Award for 63rd JJACC


H. Dan won 2020 IEEE CCTA Outstanding Student Paper Award


2021 Oct.     New members have joined
2021 Oct.     Information Session for WISE-SSS Admissions

2021 Oct.     Intensive practice for interdisciplinary research planning

2021 Nov.    64th Japan Joint Automatic Control Conference
2021 Nov.    SSS Matching Workshop(Seeds Round)

2021 Dec.    SSS Matching Workshop(Needs Round)

2021 Dec.    60th IEEE Conference on Decision and Control

2022 Mar.    9th SICE Multi-Symposium on Control Systems    


T. Hatanaka, N. Chopra, M. Fujita and M. W. Spong
Passivity-Based Control and Estimation in Networked Robotics
Communications and Control Engineering Series, Springer-Verlag, May, 2015  
Book Announcement in CSMBook Review in Automatica)


T. Hatanaka, N. Chopra, J. Yamauchi and M. Fujita
A Passivity-Based Approach to Human-Swarm Collaborations and Passivity Analysis of Human Operators

Trends in Control and Decision-Making for Human-Robot Collaboration Systems
Y. Wang and F. Zhang (eds.), Springer-Verlag, pp. 325-355, Feb., 2017


M. Seto, T. Ibuki, and T. Hatanaka
Basic Functional Analysis for Machine Learning
Uchida Rokakuho Publishing Co. Ltd., 2021 (in Japanese)


Y. Nakamura (eds.), H. Chiba, J. Satsuma, N. Yamashita, T. Hatanaka, H. Shimotaira, and K. Takeyasu
The World of Applied Mathematics & Physicss
Nippon Hyoron sha Co., LTD, 2019 (in Japanese)


S. Azuma, M. Nagahara, H. Ishii, N. Hayashi, K. Sakurama and T. Hatanaka
Control of Multi-agent Systems
Systems Control Engineering Series Vol. 22,
Corona Publishing Co., LTD, 2015 (in Japanese)

Books/Book Chapters

M. Li, S. Yamashita, T. Hatanaka, and G. Chesi

Smooth Dynamics for Distributed Constrained Optimization with Heterogeneous Delays

IEEE Control Systems Letters, vol. 4, no. 3, pp. 626-631, 2020
(DOI: 10.1109/LCSYS.2020.2989372)


T. Miyano, S. Yamashita, T. Hatanaka, K. Shibata, T. Jimbo and M. Fujita

Continuous-time Optimization Dynamics Mirroring ADMM Architecture and Passivity-Based Robustification against Delays

IEEE Transactions on Control of Network Systems, vol. 7, no. 3, pp. 1296-1307, 2020

​(DOI: 10.1109/TCNS.2020.2972590)


T. Hatanaka, R. Funada and M. Fujita
Visual Surveillance of Human Activities via Gradient-based Coverage Control on Matrix Manifolds
IEEE Transactions on Control Systems Technology, vol. 28, no. 6, pp. 2220-2234, 2020
(DOI: 10.1109/TCST.2019.2935063)


T. Hatanaka, T. Ikawa and N. Li

A Passivity-Based Design of Cyber-Physical Building HVAC Energy Management Systems Integrating Optimization and Physical Dynamics

Economically-enabled Energy Management: Interplay between Control Engineering and Economics, T. Hatanaka, Y. Wasa and K. Uchida(eds.), Springer Nature, pp. 309-341, 2020
(DOI: 10.1007/978-981-15-3576-5_12)


S. Yamashita, T. Hatanaka, J. Yamauchi and M. Fujita
Passivity-Based Generalization of Primal-Dual Dynamics for Non-Strictly Convex Cost Functions
Automatica, vol. 112, no. 2, 108712, 2020
(DOI: 10.1016/j.automatica.2019.108712)


K. Yoshida, M. Inoue, and T. Hatanaka
Instant MPC for Linear Systems and Dissipativity-Based Stability Analysis
IEEE Control Systems Letters, Vol. 3, No. 4, pp. 811-816, 2019
(DOI: 10.1109/LCSYS.2019.2918095)


T. Hatanaka, N. Chopra, T. Ishizaki and N. Li
Passivity-Based Distributed Optimization with Communication Delays Using PI Consensus Algorithm
IEEE Transactions on Automatic Control,  Vol. 63, No. 12, pp. 4421-4428, 2018


T. Hatanaka, N. Chopra, J. Yamauchi, M. Doi, Y. Kawai and M. Fujita
A Passivity-Based System Design of Semi-autonomous Cooperative Robotic Swarm
ASME Dynamic Systems and Control Magazine, Vol. 5, No. 2, also in Mechanical Engineering, Vol. 139, No. 6, pp. 14-18, 2017 (DOI:10.1115/1.2017-Jun-6)


Selected Recent Publications