{"entities":{"Q1666892":{"pageid":1677633,"ns":120,"title":"Item:Q1666892","lastrevid":68185062,"modified":"2026-04-12T22:00:03Z","type":"item","id":"Q1666892","labels":{"en":{"language":"en","value":"Neural network-based fault-tolerant control of underactuated surface vessels"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6927514"}},"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":"Q1666892$27C8DA00-3E87-41BF-8601-132389B8F1DF","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"49f473292d7f24dca092b35c21842c664c7fa58a","datavalue":{"value":{"text":"Neural network-based fault-tolerant control of underactuated surface vessels","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1666892$263A842E-2C98-43AF-A668-B8D52B5D16E8","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"67f923c1394a14996fc32eb0d49400475ea16192","datavalue":{"value":"1394.70063","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$11BD1704-A378-49F0-A408-F1185151F939","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0661f070c2692896edfc0280209f4594cfef8425","datavalue":{"value":"10.1155/2015/903759","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$49F4C7EC-2A88-4910-A439-485E18F3470C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d73b2a2ff4e27b71a789606fc9e8433b7f625a03","datavalue":{"value":{"entity-type":"item","numeric-id":347312,"id":"Q347312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$51D10966-D978-4B20-8838-CA0731DAC68B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$82CABBE3-C5B8-4DB9-822D-42935839A005","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"07d78b2809f727a96c8c6621733f1ab3a1973328","datavalue":{"value":{"time":"+2018-08-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1666892$C8CB7A3A-DE4B-4507-9A42-E842CAB776AC","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"dc2e314469af11b93e2ab03d354a717958252d4b","datavalue":{"value":"Summary: This paper addresses the problem of trajectory tracking of underactuated surface vessels (USVs) in the presence of thruster failure. Multilayer neural networks (MNNs) are employed to estimate the unknown model parameters and external disturbances. To design a fault-tolerant controller without a fault detection scheme, we use the Nussbaum gain technique. We introduce an additional control to resolve the difficulty arising from having fewer inputs than degrees-of-freedom. Further, an approach angle is proposed to track both a straight and curved path. Stability analysis and simulations are performed to demonstrate the effectiveness of the proposed scheme.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1666892$48AE5D13-C1BE-4015-B247-DE9149863264","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$9A79ACB0-2FA2-4FE3-8C6D-7BA53BE4E0C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$BB7EB8EB-9115-49EF-8B6D-1FCE602D963E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"711f271da3052d0ed9657af38c2a5ae4d2f66729","datavalue":{"value":"6927514","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$B01DEA15-01DF-4E35-B8F2-7313E809F48D","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b57405dcf1c771992cc986674ae47c34bdd0c87d","datavalue":{"value":"Q59120219","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$DE7F0CE6-7B66-4220-B54D-B7AD3B76A5A6","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":"Q1666892$8AF741EF-7E4B-4904-BF3D-FBCDDA5BE9C6","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6f57efff762eab370e191e7752b85e8c710c9fae","datavalue":{"value":"https://doi.org/10.1155/2015/903759","type":"string"},"datatype":"url"},"type":"statement","id":"Q1666892$34DCAC07-277F-4E15-942A-6006BBCA2779","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6c9896a07671c8c1826d9fd8e4212577629575eb","datavalue":{"value":"W1914510541","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1666892$EEDA7641-C8F1-4EAE-AFCE-79232FF9EE36","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"0ed687f6a553933a852370a126d2fa65b5819415","datavalue":{"value":{"entity-type":"item","numeric-id":594070,"id":"Q594070"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$69877969-79B4-439B-AB6A-90E5B71CF37C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c8a0c279009978e3c4b5c54766b1276d0a59650","datavalue":{"value":{"entity-type":"item","numeric-id":705443,"id":"Q705443"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$33DE51E5-21C3-4575-B21E-3D2F075E05E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"166afbdd91837f5370ad02a2ea258172f7dbe9e5","datavalue":{"value":{"entity-type":"item","numeric-id":5266786,"id":"Q5266786"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$CDB583D5-8AFE-41C4-9F2C-BD982D2739C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3d69cad1993030cb0404c6c08a45b83e8e3287b","datavalue":{"value":{"entity-type":"item","numeric-id":1764048,"id":"Q1764048"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$94D93CC5-EB54-48D3-A89B-C1F72F05F20B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f0ca97bf7619a7235dc1158b6804ad867bd51ec8","datavalue":{"value":{"entity-type":"item","numeric-id":510151,"id":"Q510151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"91d164334348734d4909f80e9ebfcfcace40ddce","datavalue":{"value":{"amount":"+0.8774231672286987","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666892$25C39188-E406-4478-B138-FAF2883FD26B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"141bd0c26aaf47ed4422fa5b448662de13958a6f","datavalue":{"value":{"entity-type":"item","numeric-id":4995721,"id":"Q4995721"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fbac948edf27b60ba21026e857ec4dca35a2feda","datavalue":{"value":{"amount":"+0.8392858505249023","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666892$48B5715A-C1A5-472D-8690-C1F56A2EA9E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd438938012b70a92012c63ffd7eb6b8f9871198","datavalue":{"value":{"entity-type":"item","numeric-id":2792790,"id":"Q2792790"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0e05819085a399b54eba5d499c481c67d850fb11","datavalue":{"value":{"amount":"+0.836142897605896","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666892$1D771E85-1BB0-4611-8BC9-D5CBCD992395","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3527f6bf44a674dc45efb898784a1312178629e5","datavalue":{"value":{"entity-type":"item","numeric-id":4688537,"id":"Q4688537"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5e0e66e62f129d0365384d6ef5176cf50d42fbae","datavalue":{"value":{"amount":"+0.8296716809272766","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666892$43CAB396-7B6A-4FD2-BBC7-BA72B6A100AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"81a2148e4dbac3ad6943469fe1567ce612ceaa7c","datavalue":{"value":{"entity-type":"item","numeric-id":4629446,"id":"Q4629446"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"656b88a1e2ff2c67d594abff5cc6faff16c3ae61","datavalue":{"value":{"amount":"+0.8277061581611633","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1666892$5D527B80-3927-456C-9ABD-4F8B6F890DD8","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"daf5f856a5d861312ad309ab567540337a5f61d6","datavalue":{"value":{"entity-type":"item","numeric-id":57050,"id":"Q57050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1666892$FC1C6B3A-69DB-4F0F-B64F-7275860661EA","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Neural network-based fault-tolerant control of underactuated surface vessels","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Neural_network-based_fault-tolerant_control_of_underactuated_surface_vessels"}}}}}