{"entities":{"Q1388113":{"pageid":1398853,"ns":120,"title":"Item:Q1388113","lastrevid":70308297,"modified":"2026-04-13T13:53:33Z","type":"item","id":"Q1388113","labels":{"en":{"language":"en","value":"Direct learning of control efforts for trajectories with different magnitude scales"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1161175"}},"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":"Q1388113$0EB956F0-67B0-45F9-808D-692F95052B6A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8a77f8d9935f96ff307f3213127772a21f5d5cd9","datavalue":{"value":{"text":"Direct learning of control efforts for trajectories with different magnitude scales","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1388113$69CD425E-57BB-46A4-AFB4-D1E1942D2989","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"330a06d2187545470959ef17d7cf1ce680a73eea","datavalue":{"value":"0907.93032","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1388113$E0976090-8D9E-4EF3-BCAD-1D066EBEED1A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"5821b1a94651b2ed1ef75fd3c79068861a7b6e43","datavalue":{"value":"10.1016/S0005-1098(97)00140-4","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1388113$A9FF2A5C-4BB4-4345-B8F8-DE798AFBA842","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4728f1fa0493309680b0b4d2fd59745da51ba82f","datavalue":{"value":{"entity-type":"item","numeric-id":193804,"id":"Q193804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$3E8B11B1-0714-4529-8CA7-3EAB76E5613D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$63A9BB6D-6D84-4F7D-AB35-A5E0007563A9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"434673b5be884fc3474ad3e71a8cb592da1960eb","datavalue":{"value":{"time":"+1999-02-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1388113$D9BC3FF7-22FF-474C-AC25-63325CE499B6","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"274e4f994deab2762ea01a8dc1bc23379a61b9da","datavalue":{"value":"The paper introduces the concept of direct learning, defined as the direct generation of desired control profiles from different past control profiles, without repeated learning process. Direct learning control schemes are developed for some classes of nonlinear systems. The main advantages of these schemes result from the full utilization of the previously obtained control input signals with various magnitude scales and from the avoidance of repetitive learning. Simulation results for a single link robot manipulator illustrate the effectiveness of the proposed direct learning schemes.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1388113$3BDBEAF6-2607-4748-8946-185323598F34","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1388113$63BF2C3F-FAD0-4D22-83D8-7682B48E8F16","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"cfe779e91fe9c53ee133568259955801965765ae","datavalue":{"value":"68T05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1388113$D1BCEB48-4E6D-43B1-898A-6F3797836CFA","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"369e0a6670d14f5d28d95f6dd96ce257d04e718b","datavalue":{"value":"1161175","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1388113$38C4D5E0-0F0C-4867-AFB2-768849C7156A","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ff0dbe179137cd876c98fb613040b625d8ac30d","datavalue":{"value":"trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q1388113$7761D471-10AF-4FD1-992C-594032B47A10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"25ef9a5ebc680582ebe880d5d277b1059a96ee74","datavalue":{"value":"direct learning","type":"string"},"datatype":"string"},"type":"statement","id":"Q1388113$C9C25CBA-9905-4B2F-B380-744FBBB9BF9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4b8efee7233476496900d4101440c314a222d45d","datavalue":{"value":"repeated learning","type":"string"},"datatype":"string"},"type":"statement","id":"Q1388113$06F97C20-3129-43BB-A426-39FE96E08378","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f4651fae9d12e26bb456e8184d8837c6e4544d5e","datavalue":{"value":"nonlinear systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q1388113$1D25A4BA-5903-4C10-B7DD-0290F7CF0897","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"dec0e41eefaf1522a0e8d74c78cc72e69d2284a6","datavalue":{"value":{"entity-type":"item","numeric-id":449653,"id":"Q449653"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$152E0552-D768-4D9D-87A4-6B34FD709D55","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$CED9AA11-6405-4074-86F8-A5C4079F9AAC","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d72f2e045d62f792c28eefcc72e9a82571aa21e8","datavalue":{"value":{"entity-type":"item","numeric-id":3987159,"id":"Q3987159"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$F5D56DE4-B0C2-4F29-B51A-8C747689A0C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"148e695801ec05b1a000e43cfd1b1815d91f8093","datavalue":{"value":{"entity-type":"item","numeric-id":3981709,"id":"Q3981709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$9507B4DA-621A-4F7A-910E-69596A07F504","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"30474d37653a5152f388c491579f49581c9ae55f","datavalue":{"value":{"entity-type":"item","numeric-id":1195814,"id":"Q1195814"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$4CCD1B88-09CC-401C-9E30-BC532455136E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c86137f1e480bc80cef5b652ee39c168d434c915","datavalue":{"value":{"entity-type":"item","numeric-id":5288568,"id":"Q5288568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$238CAC1C-92A8-4D2F-B5FE-DB16CBFDBDD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d527713cde413a2afbec620fe6c9ef26aa9f0a0a","datavalue":{"value":{"entity-type":"item","numeric-id":4315692,"id":"Q4315692"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$3F4630FB-E340-4E31-BAD2-C057525D92B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5f1ae583cb3bb05a3abd8091421697094de7add8","datavalue":{"value":{"entity-type":"item","numeric-id":1376283,"id":"Q1376283"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1388113$F4851A5F-5825-450B-ADEE-E96C3980E248","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4a4556de447db999706e298c0af414c67157d66b","datavalue":{"value":"https://doi.org/10.1016/s0005-1098(97)00140-4","type":"string"},"datatype":"url"},"type":"statement","id":"Q1388113$D62A3F19-B81F-40EF-8A6F-C8BBE8EE7073","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"151dc1f52bc9f4c15b164707e4b4e77390587d4b","datavalue":{"value":"W2119498700","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1388113$EC7ACBD9-1CDD-4A38-87F4-90DAC531D01D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6b14fdb1a4a21ace82cfe86f817f49d2f088c067","datavalue":{"value":{"entity-type":"item","numeric-id":4506517,"id":"Q4506517"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c95b77aaa3546de91764e66a5d6853aa4c53a247","datavalue":{"value":{"amount":"+0.9685476","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$DBBD2E28-63A0-42F0-A82C-51A77285361B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1340fd9fb84e514c772c0d474bf5c0dd056eea9f","datavalue":{"value":{"entity-type":"item","numeric-id":4506944,"id":"Q4506944"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9f38478fe4692215dd5ddd41c023d7e3f781ddef","datavalue":{"value":{"amount":"+0.87884927","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$356B8717-7109-4FC3-9DCD-2D991D14B196","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7b3df8bce28630f48787dcad928703779240b7dc","datavalue":{"value":{"entity-type":"item","numeric-id":5939325,"id":"Q5939325"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"66fd1ff9eca3c2b6fb156be4aaa809d55ff79ada","datavalue":{"value":{"amount":"+0.87798035","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$62FF95C0-C564-4E46-AAC8-833361F47717","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eb3f83aa474bc434ac0d72a4c2656178fc28b290","datavalue":{"value":{"entity-type":"item","numeric-id":4444215,"id":"Q4444215"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d8783457fc33cd5fd0d398831cea215e0e020e66","datavalue":{"value":{"amount":"+0.873477","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$DC814172-BBB7-4109-861B-456582468F40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6e39a145035999a4b9633e8c20c632adc76be415","datavalue":{"value":{"entity-type":"item","numeric-id":4678159,"id":"Q4678159"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3affe42b0b0a89678e2f67a257205271ef11a3e5","datavalue":{"value":{"amount":"+0.8675789","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$FF97319B-91C0-451A-800F-CC500C91FBB5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"619e34b2f7022ad656fcdc9888e5cb6f122dc327","datavalue":{"value":{"entity-type":"item","numeric-id":4543861,"id":"Q4543861"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a0f20f24c781a041fcd4141776a5699b15c7af8","datavalue":{"value":{"amount":"+0.8594041","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$B3BA805D-AD83-43A9-9873-3353BCC0AFAF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"966671c5ca9aafe240fdab9dd6e57c5afe702e23","datavalue":{"value":{"entity-type":"item","numeric-id":1961193,"id":"Q1961193"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"80824ac0256bdd7083d15bd967667cb2721ecdb2","datavalue":{"value":{"amount":"+0.8550527","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$52CC251B-D261-4ED2-BBB5-8CC89C6695F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"899f8ae4a2026fe251fba7faf98f8afce6be549a","datavalue":{"value":{"entity-type":"item","numeric-id":4848092,"id":"Q4848092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"37165217dfbd38d57616970dc1d365712b31c51e","datavalue":{"value":{"amount":"+0.8538455","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$0E787E91-24F3-4D81-A928-B2ABD7F5FF38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4f8df2f5fd023c78ded3acc0e2bc3a8d7d5336a7","datavalue":{"value":{"entity-type":"item","numeric-id":4708229,"id":"Q4708229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9caddd30e5446708e0a318cd2031fa06caac62a5","datavalue":{"value":{"amount":"+0.85381794","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$B48C6BA1-84B7-42BB-9162-F4B14ADC234F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"958e2f6c4a69e1cd07b59fcc90980c9c2e185e89","datavalue":{"value":{"entity-type":"item","numeric-id":5853895,"id":"Q5853895"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"94a49f6de001432ff7a259905b94fa62303c941c","datavalue":{"value":{"amount":"+0.85021794","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1388113$1C44ABBA-690B-45E5-9290-E2343CE335BB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Direct learning of control efforts for trajectories with different magnitude scales","badges":[]}}}}}