{"entities":{"Q1718004":{"pageid":1728745,"ns":120,"title":"Item:Q1718004","lastrevid":57491409,"modified":"2026-03-31T03:52:36Z","type":"item","id":"Q1718004","labels":{"en":{"language":"en","value":"Neural network observer-based finite-time formation control of mobile robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7016031"}},"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":"Q1718004$AF41416F-A94D-460F-B186-11C160028517","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"a69fbb42342c19af63c0774cf11e2eb4932a89c1","datavalue":{"value":{"text":"Neural network observer-based finite-time formation control of mobile robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1718004$4A41E4BC-E139-4DB9-A826-DB163488DA85","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cb8c1efae562bacd4534d461e8f17025c7967d61","datavalue":{"value":"1407.93053","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$1550FB9E-0BD1-4773-8311-B2B7AB5A8151","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"903474f8c5a6daf830da0602186b031e7941bb92","datavalue":{"value":"10.1155/2014/267307","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$26CAA5E8-EF88-4AB2-99CE-E8E05FA2B082","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"21f28053986e421091f2299a44733710dfaeedea","datavalue":{"value":{"entity-type":"item","numeric-id":1687434,"id":"Q1687434"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$C4DAE802-C8D4-4064-AA28-5F9CD196A646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4f2264c9722b3b8383e7c9e9820961e378724537","datavalue":{"value":{"entity-type":"item","numeric-id":720325,"id":"Q720325"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$1E1D249F-ACDD-45C7-8D2F-E9519DB8A461","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6f9b8a9fdea4a3f8d38ff9727b26785ee4393bbb","datavalue":{"value":{"entity-type":"item","numeric-id":1655913,"id":"Q1655913"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$2B0E37A4-F75C-49B4-B9D4-7E8DB82D4BA1","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":"Q1718004$7362475B-62D3-406D-8EB0-6BAE5AE257FA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1718004$9A3DFCA6-0B72-41FA-A87D-8D67E6FC6694","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"79a9c0c87edbd0f5c2385bcfb0f006de340752d6","datavalue":{"value":"Summary: This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1718004$B21A0302-C651-4EA1-98B9-16C864397AB6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"38822e0c30cb4d87278a7a9a067f8d6b4b31dddb","datavalue":{"value":"93A14","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$66AAC154-9588-4DBA-94E0-367969FB5214","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$D7C624FB-F711-441E-8873-ABFFEFB22A1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"30c44de7be251b06c724a821bfd07428e2a12118","datavalue":{"value":"93B35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$7543BF31-8669-4046-B36B-283662DC8726","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"234539798c54369c4cb8f2797e6382ea18ad007e","datavalue":{"value":"7016031","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$D16F912A-3C55-434E-AA5B-9EC1D8B29918","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"08b7d6f73ea3ff7d91af39e570eb9528ac7de490","datavalue":{"value":"Q59065240","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$05A9A445-B275-4493-AC37-4F8CAD3733AC","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":"Q1718004$89939ACC-751F-4DB8-AEF9-96D6A43BA6D6","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"abc265cd9901fac6f169fb5650eb27a3a4d44ae1","datavalue":{"value":"https://doi.org/10.1155/2014/267307","type":"string"},"datatype":"url"},"type":"statement","id":"Q1718004$759E1436-C5B4-4202-BEF4-9BBC770156D8","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"472713fdd182b1a7f4e82525fbc7d06576d5da81","datavalue":{"value":"W2161962818","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718004$18F1FF83-31A2-4181-A0CA-8CD3FC99F52F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d018900f34e4694e30efbedc7b2927dd58dccece","datavalue":{"value":{"entity-type":"item","numeric-id":3532486,"id":"Q3532486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$B3D0BD6E-5583-44FE-8911-9EED7A7FBD9C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"72962891ea70532e296ec0ffd6089c58beb5f3a6","datavalue":{"value":{"entity-type":"item","numeric-id":2440731,"id":"Q2440731"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$2F453708-095E-40D3-9BE6-06662F78C645","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3a627cf2bdb8bf82d063ab9357db98c3242d6470","datavalue":{"value":{"entity-type":"item","numeric-id":614704,"id":"Q614704"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$92352740-4D6E-4962-A298-97AAC238865A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0fed1bf62f158e669e44314ccf83931e3967db70","datavalue":{"value":{"entity-type":"item","numeric-id":1049158,"id":"Q1049158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$080CC463-8FEA-4391-B5ED-46624CCA5110","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7119071f14b20b6157179498bebd7207c6280671","datavalue":{"value":{"entity-type":"item","numeric-id":606402,"id":"Q606402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$C352AA49-73F5-4F1D-A341-F7B8FDD02C45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f6bd56198e3ec7f9aceaff47a2fd7117f41b3e36","datavalue":{"value":{"entity-type":"item","numeric-id":642920,"id":"Q642920"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$E6C9440E-0B43-4955-AB3E-9E4EAD5ABB9B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2b3adecea98fa5fbb8bda9ecb43b4843df944ba9","datavalue":{"value":{"entity-type":"item","numeric-id":2873461,"id":"Q2873461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$8D108CAD-FFC1-4C91-AA71-3BE9DC224402","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a2b6de97b27cf7f883e370a95fed6f99dd0175f2","datavalue":{"value":{"entity-type":"item","numeric-id":4919543,"id":"Q4919543"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$DDCD9557-4F70-4BD1-B31A-632F6AB733D6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"456cba106764aaa05396536d6d181b7e81124e1d","datavalue":{"value":{"entity-type":"item","numeric-id":4943739,"id":"Q4943739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$E9313606-4941-4F2C-A116-99494BEE2288","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7f496b0d40e6dd648521e4b04c3da7c259ab9113","datavalue":{"value":{"entity-type":"item","numeric-id":3552338,"id":"Q3552338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718004$C8B5B418-1798-4F71-9A43-87948F26D5EA","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"057cdab16d2a7ce693e5aac8e77012afd97b6a89","datavalue":{"value":{"entity-type":"item","numeric-id":2873461,"id":"Q2873461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bbfef92b54c265a1897591633fadeb8483f38275","datavalue":{"value":{"amount":"+0.8708465099334717","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":"Q1718004$B5E582F7-AF60-4C7D-AF05-0A18C1F5FB7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"231630842fcb82d2f57749d0f831a06a4fac0b63","datavalue":{"value":{"entity-type":"item","numeric-id":5026728,"id":"Q5026728"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3526f9d7a6cbf2b0727b09d35d7e1e2f62db895b","datavalue":{"value":{"amount":"+0.827730119228363","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":"Q1718004$2EABF7E9-F7AC-4911-81AF-4E3C6FC6D90B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06a3b21e4a425c6b0958c2deed526646cb71215d","datavalue":{"value":{"entity-type":"item","numeric-id":5377289,"id":"Q5377289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"72c6889fb91ad86afcc9d609e7a39848955f58ef","datavalue":{"value":{"amount":"+0.8275508284568787","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":"Q1718004$456BDA12-8672-493B-9125-D00277E925DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6cf8ba1f19fad6644e33c8bad47aed8744a2540a","datavalue":{"value":{"entity-type":"item","numeric-id":4915747,"id":"Q4915747"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"51defbf0ac8eee8dca36ee1730bc9a10c4a921ff","datavalue":{"value":{"amount":"+0.8131281137466431","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":"Q1718004$54D1D86F-E966-4AF1-A3D3-3E4F865F5DB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6abc3785726a420651c99eb6ce11f5abe75c6e50","datavalue":{"value":{"entity-type":"item","numeric-id":1661743,"id":"Q1661743"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d40eb42561077f18957762a7e4c7ddd7b656f05f","datavalue":{"value":{"amount":"+0.8095324635505676","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":"Q1718004$83852B24-2F42-4A5E-B4EE-81F62F873C19","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":"Q1718004$7F29E88F-4E65-48F4-819C-CD3BCBE3973B","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1718004","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1718004"}}}}}