{"entities":{"Q1677872":{"pageid":1688613,"ns":120,"title":"Item:Q1677872","lastrevid":52955789,"modified":"2026-01-23T21:51:02Z","type":"item","id":"Q1677872","labels":{"en":{"language":"en","value":"Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6806437"}},"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":"Q1677872$F0BFB7AC-D789-41E3-A39C-4C01957D6A0A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d6f5e110f109b71efe51bc455b11179956567dfd","datavalue":{"value":{"text":"Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1677872$15B13F03-3303-45D2-9FFF-2BDC9E074106","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"96cb3da450805fd0f9539dafc19ea010e508c8f8","datavalue":{"value":"1374.93228","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$94F8CDFF-9820-49A1-9C09-04B19607E234","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"8b19f29b6c8f6c6cdf7e312d3720228955be021e","datavalue":{"value":{"entity-type":"item","numeric-id":1045465,"id":"Q1045465"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$F2B2CF0F-9774-45F1-A859-3BAB3CC53C5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3398daf3c4a62a0979ff829033cb3a4d0fe3ca05","datavalue":{"value":{"entity-type":"item","numeric-id":1677871,"id":"Q1677871"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$CCF7FF3C-E913-4B19-AF07-38F71528AA34","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e869a401a57fade979bca6aeee2682b90c2ddf4c","datavalue":{"value":{"entity-type":"item","numeric-id":293098,"id":"Q293098"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$E94D0FF1-96A5-422F-8DCE-7E8D9E035267","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"da09ea54dc9cce303d46e7b91151d8fdee11b747","datavalue":{"value":{"entity-type":"item","numeric-id":1288218,"id":"Q1288218"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$4F1A9069-0BB9-469F-B897-EF938339BEC5","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"784d2dc06e2a3bb008e6a3a15801a0f0231d6262","datavalue":{"value":{"entity-type":"item","numeric-id":65161,"id":"Q65161"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$9681B23A-7022-458A-BC9A-AACD80335D37","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"310e20f7d1a9e2ae0a25fda0c25b26ef50ca8e2b","datavalue":{"value":{"time":"+2017-11-13T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1677872$DA9F84EE-8B9E-4EDE-9457-B0A4E9A2646F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$80EEB158-4E54-4723-AAF2-8F8BEEA2F9F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$903B20AA-F1E9-4FF3-B914-17F1C577470B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"924541e834fb028affdc095fef79d880beeb8bd8","datavalue":{"value":"70E17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$D43CA76A-B984-4919-9E8C-C4AA7993F027","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$D24E161F-9F23-47CA-8457-D23B3EAADB61","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"73f6b93696405cc06e93a0865f6c30e77546831f","datavalue":{"value":"6806437","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$9C718C90-851C-467A-B688-ABB2C0041129","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a90efb4d2a2d31025f1f10acee183ab4cfa551a1","datavalue":{"value":"adaptive mechanism","type":"string"},"datatype":"string"},"type":"statement","id":"Q1677872$DDA6A92A-D17E-47E1-A82C-559B2E351F70","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e2d6c71f071d143a5388d2739cf93ab0cd665d85","datavalue":{"value":"data-driven","type":"string"},"datatype":"string"},"type":"statement","id":"Q1677872$FEE93784-F042-4FC9-B09E-A1837EDF7516","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"635244ce8217698c59bb85ef1d58aef0615c4224","datavalue":{"value":"indirect fuzzy control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1677872$3578BF58-3767-4E5E-A37B-B9B69749CE22","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fac2e87a2f527a5ab06e45d51dc7c66c9144cea1","datavalue":{"value":"nonholonomic/underactuated","type":"string"},"datatype":"string"},"type":"statement","id":"Q1677872$2F51A568-2645-467A-8B13-41B74B162DFA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f6efda41c890a91ead539a75a14933118d198243","datavalue":{"value":"wheeled inverted pendulum","type":"string"},"datatype":"string"},"type":"statement","id":"Q1677872$C6769873-2DC2-486C-849D-A4B044B04103","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":"Q1677872$667E19A5-6D18-4880-B9F0-1A32D6EEBCF3","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b5ae35209a2e92adf32612423576d54ed26311ac","datavalue":{"value":"https://doi.org/10.1016/j.fss.2015.08.013","type":"string"},"datatype":"url"},"type":"statement","id":"Q1677872$410D5D25-0D33-46E6-B35B-8C343A17A7A9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a70b2892b9af1b953c7031ba48fd5ba7df5694b1","datavalue":{"value":"W1647726290","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$76C8C0C2-4A54-4E5C-A9B9-7F1CDC3AF83D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"79f40f853ff8e77bdb0f6dffca25c7db6556579e","datavalue":{"value":{"entity-type":"item","numeric-id":614973,"id":"Q614973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$0CB8F7A8-8015-412E-9612-687034AB2AB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fd8a28697fb7e03981d2efd9ddfb7f470839db76","datavalue":{"value":{"entity-type":"item","numeric-id":1043274,"id":"Q1043274"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$E485DA0E-FBEC-4F51-BA60-8722B8155354","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ecaf5b7db7bba4eb72ccc0f76a62581817ae2fe","datavalue":{"value":{"entity-type":"item","numeric-id":690907,"id":"Q690907"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$4B3E88C9-C41B-4BCB-B15A-34EA7C4B4332","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"98f2aaaaa11b1c24bf5b0ef2e03c5023d4ca2242","datavalue":{"value":{"entity-type":"item","numeric-id":2351557,"id":"Q2351557"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$CFFD6377-81DB-402B-B9B1-41443651702C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d119902e4863da3111187d5a858cdc4918d93c4","datavalue":{"value":{"entity-type":"item","numeric-id":893697,"id":"Q893697"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$60A424CC-F048-4BF9-A6DF-86E42C7DC1BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d136eadcb890cff94830566ce569c9a6e4d9adf9","datavalue":{"value":{"entity-type":"item","numeric-id":2476228,"id":"Q2476228"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$3CBBFA32-AE26-4B9F-8B82-9C60D47204A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e72f29bf0d8ae460f87ff52338774fdf531873bf","datavalue":{"value":{"entity-type":"item","numeric-id":5743762,"id":"Q5743762"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$CD662154-370A-49A3-9DE8-DDD67E6352B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49b7aea0b31fa108be3469a2d5eeebb009313985","datavalue":{"value":{"entity-type":"item","numeric-id":1037982,"id":"Q1037982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$3D0F2F1B-88A1-4E88-8719-601538BED718","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0dcf23af9fefca88a5882f27d7d42a00d1730263","datavalue":{"value":{"entity-type":"item","numeric-id":1949128,"id":"Q1949128"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$8B2D6950-85A9-40DA-BC9F-FB3C78DE4DBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"40f21a799a6a9debff4b063f93c84cd350416455","datavalue":{"value":{"entity-type":"item","numeric-id":5941042,"id":"Q5941042"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$FC8DF1D7-FDD0-43C3-B408-416ABD390FDA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$C8F2A505-6102-4615-9BAE-CCE71CD23A87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e35783952ca0b64f6c40f3c5e4d4ce0517b93555","datavalue":{"value":{"entity-type":"item","numeric-id":608446,"id":"Q608446"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$FA39D8EE-A93B-442F-ACAB-727455FA8A10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e9015380a3bdd59407499c4974b8b2c2f5ec0155","datavalue":{"value":{"entity-type":"item","numeric-id":5172521,"id":"Q5172521"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1677872$9F28250A-1483-4462-8D86-6287341CE67F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"2c9217ae6e7954a347e569dbbd6bd4ab226b4f32","datavalue":{"value":"10.1016/J.FSS.2015.08.013","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1677872$FCEE3FC4-FD73-4C26-BA28-FE9C48E6DD82","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7f0dc7f1c7f2bf126a85ea4b7e597b081cb177ad","datavalue":{"value":{"entity-type":"item","numeric-id":1037982,"id":"Q1037982"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b470b2d3c2397afdb22d42d4f7b253e67e24f4d6","datavalue":{"value":{"amount":"+0.8139541745185852","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":"Q1677872$DF87113B-D40B-4C9D-B0A1-3D61C64955FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2b69003be84ec2f79e59363d435fe14c6c11e3f1","datavalue":{"value":{"entity-type":"item","numeric-id":2979574,"id":"Q2979574"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8697db4e507ce9374b6bee2548edfb2f05ba7b3c","datavalue":{"value":{"amount":"+0.7967115640640259","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":"Q1677872$593C4B25-867D-4C64-8F1C-017F711C0848","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5b36040b0c3d5faa7d8d61434c6353322be5f690","datavalue":{"value":{"entity-type":"item","numeric-id":5117289,"id":"Q5117289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"34bd2239397446f1171de11c026e77ea189c4421","datavalue":{"value":{"amount":"+0.7858193516731262","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":"Q1677872$0448B8A4-E470-49FC-84D4-760A493B33DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7a100e1de674878832a0bdf09bf2f65c40dacbdb","datavalue":{"value":{"entity-type":"item","numeric-id":494915,"id":"Q494915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"27a72b547fa7e7fc160c7dd8adda51fd19e98d5f","datavalue":{"value":{"amount":"+0.7754470109939575","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1677872$E859E2B4-96F9-4AB4-832A-E6030839BA9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1900887f99dc5b0f3c5261bc0bd91f95e2acc29f","datavalue":{"value":{"entity-type":"item","numeric-id":5134320,"id":"Q5134320"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c022e36bfefdb95179f3eef7c0ec762706d482ef","datavalue":{"value":{"amount":"+0.7677528858184814","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":"Q1677872$500AFC04-2DA2-4940-801E-75044D8C0EA0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1677872","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1677872"}}}}}