{"entities":{"Q1357880":{"pageid":1368619,"ns":120,"title":"Item:Q1357880","lastrevid":70234362,"modified":"2026-04-13T13:23:23Z","type":"item","id":"Q1357880","labels":{"en":{"language":"en","value":"Intelligent control for an acrobot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1023037"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1357880$ACE94D9B-F9F6-42E5-ACE8-6FBCAB545BC2","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"decda8005e277b5134c6fded788f59bfa4a391f3","datavalue":{"value":{"text":"Intelligent control for an acrobot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1357880$931A4482-C14E-4CBD-8F3D-6377AE2474C4","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bffd470779326217cf627388387d750ac1960e1a","datavalue":{"value":"0960.93040","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$53D08190-3073-4EA5-8E0C-85D1A6D7A5A4","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"64a1acca30534f2f6f67f6bd61475c72ab8a31ae","datavalue":{"value":"10.1023/A:1007953809856","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$2B3D2E82-A716-4EB7-87A3-1F66CB0B408D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ef22a42de66aa64d6c2962f1b63d20ec624580e5","datavalue":{"value":{"entity-type":"item","numeric-id":1357879,"id":"Q1357879"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1357880$D33F4BC1-DBB9-4617-A0B2-533654700476","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3fb634f4734608e195f8a7a138ef4cfa719af171","datavalue":{"value":{"entity-type":"item","numeric-id":212021,"id":"Q212021"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1357880$34CF4B72-69ED-44FD-81A7-2F1387289894","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8b52df0cb93c7806667d725dbe9cfd2eb5e433b6","datavalue":{"value":{"entity-type":"item","numeric-id":185894,"id":"Q185894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1357880$DF30576B-8AA8-4776-A410-54CE797A19D4","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"282f7d50f2c9237929fcbcde5ee246882cc0d6d5","datavalue":{"value":{"time":"+1997-07-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1357880$F47E98E3-C05C-45CF-A4D4-61F9EDED0731","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"78ea79fd1f12864d827d10799739ce4786df641b","datavalue":{"value":"This paper uses the acrobot as a means of exploring and comparing a variety of intelligent and conventional controllers in a challenging application. An acrobot is an underactuated two-link planar robot that mimics a human acrobot who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with hands still on the bar. The authors develop intelligent controllers for swing-up and balancing of the acrobot. They use classical, fuzzy, and adaptive fuzzy controllers to balance the acrobot in the region near its inverted unstable equilibrium position. They also develop a proportional derivative controller with inner-loop partial feedback linearization, state feedback and fuzzy controller to swing the acrobot up from its stable equilibrium position to the inverted region. In the inverted region, the authors employ a balancing controller to ``capture'' the acrobot and balance it.   The authors also develop a genetic algorithm for tuning the balancing and swing-up controllers. The demonstrate how the genetic algorithm can be used to optimize the performance of the controllers.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1357880$909103D9-8461-45D5-96D4-247391D44EE8","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$889FD4BC-A124-470B-9D1B-1E3AF30643D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$81EA80FE-2CBD-4FFA-B013-B610BA9DC786","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$8E3B74A0-2BB5-42E4-A6A8-FE4675A6FE82","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"61779c4bddceb6144ef16e1d87892303d6445373","datavalue":{"value":"1023037","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$43D7C5EA-59CC-440C-BA44-0CA6D927B42C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0b73838cf51c85f82b0030abf491f5e6444ad7de","datavalue":{"value":"acrobot","type":"string"},"datatype":"string"},"type":"statement","id":"Q1357880$F668F4F0-6D1E-4475-AD4B-99B540F50EE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"188df211630c1d4f5e4d0fb162b79c613e1eb13b","datavalue":{"value":"intelligent controllers","type":"string"},"datatype":"string"},"type":"statement","id":"Q1357880$C9F4D8C5-25A4-45C2-BD3B-EC9A40590F06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5d4d776dd8e11d76ccb327287d166ab369a64a16","datavalue":{"value":"adaptive fuzzy controllers","type":"string"},"datatype":"string"},"type":"statement","id":"Q1357880$A72D6704-9322-4B2D-967F-7E5992561D46","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ea101d6ea366b791e41515dbb96797501987b763","datavalue":{"value":"proportional derivative controller","type":"string"},"datatype":"string"},"type":"statement","id":"Q1357880$4A8D6565-AF05-41A9-B1C4-2479DA3BAF7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a82288a7486575dda773cb2a6b464589e07fba88","datavalue":{"value":"genetic algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q1357880$5D33D0F0-DD67-4F83-B663-D52938FA2CE7","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"6b9102c13c80e8969fe945919ec2c5dd96f51712","datavalue":{"value":{"entity-type":"item","numeric-id":590124,"id":"Q590124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1357880$692680DC-0C98-40E2-AABC-AB70AA11B459","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1357880$B79E45A0-8677-4EA3-85DA-445E63F183BB","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"d3d2375b79a16b1d3ba04238430e421157192959","datavalue":{"value":"https://doi.org/10.1023/a:1007953809856","type":"string"},"datatype":"url"},"type":"statement","id":"Q1357880$E388FDB0-5C45-438C-B6B0-7B8B68696B29","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a87f6f5b9cb2482406e7c60e4f2e7f6ca5c69bca","datavalue":{"value":"W1505317454","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1357880$E430687B-AFC9-4ED3-A362-9921C031EC69","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a8950741a96a6ddede62716ba0afd96eafde690d","datavalue":{"value":{"entity-type":"item","numeric-id":5108316,"id":"Q5108316"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"00a50c1877b5ef01d2005a09221ee23ee49eb4f0","datavalue":{"value":{"amount":"+0.8962825","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$617E9F4C-E966-48C4-B520-8F94520669EA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2cf8a4cdd258a22ed387b976ec110574a6660446","datavalue":{"value":{"entity-type":"item","numeric-id":1417134,"id":"Q1417134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d46f754ae514840511e60072ff0b6892c3dbe2e4","datavalue":{"value":{"amount":"+0.8824028","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$A1641BF6-F266-43EE-B9BE-EAC8D10B2D83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"539a188921fe606d7ff28226609ec5b1a1e4b7e3","datavalue":{"value":{"entity-type":"item","numeric-id":2095963,"id":"Q2095963"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4cd8743eeb2d92deb63aefdb62a1535cb1edc2cb","datavalue":{"value":{"amount":"+0.87446564","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$94B9225B-35BE-434A-AB28-E7F4BA1A01FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"277960a95005516673c4d96ab6bffcc854b3db85","datavalue":{"value":{"entity-type":"item","numeric-id":4206438,"id":"Q4206438"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f855d86e071117cc4ec2d9bf0301f5fb7ac16944","datavalue":{"value":{"amount":"+0.8700481","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$8AAB98D9-A183-4080-87C1-365D09116DB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"59b37f04918d473c22f22974b3b88e54c6830420","datavalue":{"value":{"entity-type":"item","numeric-id":3977289,"id":"Q3977289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"36ab91f2f83b5c7ff5dee2258885a4dfb91f3cb7","datavalue":{"value":{"amount":"+0.8650736","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$1894FAC3-6C1C-47D1-A2D6-21C6C3EDC6B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d45b4fac6707950d5d316f1fb858ba5427106493","datavalue":{"value":{"entity-type":"item","numeric-id":3820492,"id":"Q3820492"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5adbee68bf1002faff0ff0b3efaa176de96f525d","datavalue":{"value":{"amount":"+0.86128414","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$32022178-48CE-43BE-B8C6-69A4838DBAC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e374825254d00d69a792c474d0e18796aeb8f916","datavalue":{"value":{"entity-type":"item","numeric-id":5494676,"id":"Q5494676"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d8843915d67e75de99ed2704d4b4d3ff26a7ae2c","datavalue":{"value":{"amount":"+0.8604291","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$A17D6201-767D-453D-AE57-EC0A84184AF6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"12097607a9c6981d2bac1c77d9b35f82195d135b","datavalue":{"value":{"entity-type":"item","numeric-id":2518873,"id":"Q2518873"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"42bc8ba5be9b2f47b7d36b3945f958683f5db369","datavalue":{"value":{"amount":"+0.8574399","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1357880$77910EE1-71B0-48B0-9753-54BE023C76AE","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Intelligent control for an acrobot","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Intelligent_control_for_an_acrobot"}}}}}