{"entities":{"Q1718043":{"pageid":1728784,"ns":120,"title":"Item:Q1718043","lastrevid":57491526,"modified":"2026-03-31T03:53:08Z","type":"item","id":"Q1718043","labels":{"en":{"language":"en","value":"Terminal sliding mode control of mobile wheeled inverted pendulum system with nonlinear disturbance observer"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7016073"}},"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":"Q1718043$213B5FC1-5475-477B-9D63-1E648A63C244","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"1c3d8ea91df7597490f69720416b2d58b6af3f9c","datavalue":{"value":{"text":"Terminal sliding mode control of mobile wheeled inverted pendulum system with nonlinear disturbance observer","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1718043$C2E09203-C99E-4A5D-B4AB-0E190C0742DC","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1eb866221efbf0644333fd91f527411a744b8395","datavalue":{"value":"1407.93090","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$EEA7D35A-D175-41FA-9ECC-CD9B427511E3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"de555b6650c1de6a87299a1b249e12e479dfd8c2","datavalue":{"value":"10.1155/2014/284216","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$1A74A595-6C82-4946-BD87-51C2D4EBABE6","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"83ea125c6e84065f272b0510c25b53177d0cef4c","datavalue":{"value":{"entity-type":"item","numeric-id":245522,"id":"Q245522"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$316E87B6-1C58-44E0-9056-B4000933A7E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7934d94daa509a9c715830ec7dc159b026821674","datavalue":{"value":{"entity-type":"item","numeric-id":326153,"id":"Q326153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$30CA12F7-2A9D-4B53-945B-246592626728","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"20fd3bba7f922743fb9d5cad31771095fd3602b8","datavalue":{"value":{"entity-type":"item","numeric-id":1718041,"id":"Q1718041"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$2FB2733A-56EB-4486-8545-F57AD95AE16A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"36c74d522e6f123011ec2d8aad86adda208436b2","datavalue":{"value":{"entity-type":"item","numeric-id":1718042,"id":"Q1718042"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$DE475DF8-7C38-430F-AAC1-E3ECC168958C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"cd9069d0a876683216e32c0706d050a1579a877c","datavalue":{"value":{"entity-type":"item","numeric-id":326155,"id":"Q326155"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$22A7F76D-C20B-47EE-9CE9-9C2BDD36FA7A","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":"Q1718043$7134EEB5-D87A-4ACB-AA3C-C3B4B10AAA5E","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":"Q1718043$8AA9DFD4-A908-4295-94A0-1CFD29A78399","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"bcd89346381d63aa838b26eb914e59be10b34658","datavalue":{"value":"Summary: A terminal sliding mode controller with nonlinear disturbance observer is investigated to control mobile wheeled inverted pendulum system. In order to eliminate the main drawback of the sliding mode control, ``chattering'' phenomenon, and for compensation of the model uncertainties and external disturbance, we designed a nonlinear disturbance observer of the mobile wheeled inverted pendulum system. Based on the nonlinear disturbance observer, a terminal sliding mode controller is also proposed. The stability of the closed-loop mobile wheeled inverted pendulum system is proved by Lyapunov theorem. Simulation results show that the terminal sliding mode controller with nonlinear disturbance observer can eliminate the ``chattering'' phenomenon, improve the control precision, and suppress the effects of external disturbance and model uncertainties effectively.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1718043$28AC66F2-A167-474F-9AF9-660DE47FDB64","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$48E38954-6B4D-441F-AEA7-B2849F1C39E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$DF278A41-D7C8-498B-BE3B-5A742961D9AE","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"464f3fbba95d4e6b3386cb009296c10815242cf1","datavalue":{"value":"7016073","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$05912A86-AB60-49D8-8414-8D435AA1BB57","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b0d1760df7c7c8d07b5e9a74dc27ab229b304292","datavalue":{"value":"Q59065433","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$AA64BED0-D3BA-4CCE-A746-E61D6BE7BF2F","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":"Q1718043$33105892-BBE2-4709-BD45-040609A9E8FB","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4eb0da06e8f5d0abc38abbaabb1bdb8d8b923d26","datavalue":{"value":"https://doi.org/10.1155/2014/284216","type":"string"},"datatype":"url"},"type":"statement","id":"Q1718043$529823A0-4FE1-4C78-AD4A-E5806BB9E7FA","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"b1332a829eda5b914fedc45cd8896017fe731bed","datavalue":{"value":"W2027710153","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1718043$32311229-E647-4DDD-B042-47EBAC1FE33B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5f9fab0023346a2a1858ec2288888aeb975d1d9d","datavalue":{"value":{"entity-type":"item","numeric-id":4322288,"id":"Q4322288"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$7B73AD59-C109-4F56-AFB4-A84558B327B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6555f15e75c5c4f84353ea0f9e17aa8b5040e37d","datavalue":{"value":{"entity-type":"item","numeric-id":4720021,"id":"Q4720021"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$D8B3E52F-B607-425C-A893-0FDA50052BF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4c085a38b2d5c2899a66c2e383fe749adbefdca6","datavalue":{"value":{"entity-type":"item","numeric-id":2513488,"id":"Q2513488"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$47FB4AF5-82F8-4046-A884-5EE231D1CC43","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f1e1d56d919ec671581ec53a3238cbab18453a39","datavalue":{"value":{"entity-type":"item","numeric-id":3644976,"id":"Q3644976"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1718043$99583BDE-86D4-468D-BC02-8DAD13C4447B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d663980a018376dd5dc546b4eed9223cfe67aebc","datavalue":{"value":{"entity-type":"item","numeric-id":4557455,"id":"Q4557455"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"23e31fba27c0b945b1b75e0b4c4c223a19ab582a","datavalue":{"value":{"amount":"+0.8031332492828369","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1718043$CE66EFBC-0C29-490A-8703-0763D22CB9FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9c7ef2b13c04d9ec8fab7ebbbddf09ad9fd3ed3d","datavalue":{"value":{"entity-type":"item","numeric-id":5197056,"id":"Q5197056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"da557a66af8cfbc6172c9f36b63e269d8475ae65","datavalue":{"value":{"amount":"+0.7832844257354736","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":"Q1718043$351ABB38-1D95-4FD7-8E8F-0CCDAC8414D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5be8749a4f2413d757da5870fa990b6283ef4c8d","datavalue":{"value":{"entity-type":"item","numeric-id":1983393,"id":"Q1983393"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6f85b15fc02775f498785ad7d11bdedfb79bc453","datavalue":{"value":{"amount":"+0.7820932269096375","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":"Q1718043$9B2AD2CF-4111-4B87-B66C-3EEF7EE8795C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"71037a8384303dc32682b01c6d74a489e97a930b","datavalue":{"value":{"entity-type":"item","numeric-id":2310583,"id":"Q2310583"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e4683e9e9fb786e924757ffae8d0aaa874e1ed9e","datavalue":{"value":{"amount":"+0.7725487947463989","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":"Q1718043$2CAAF34F-3D27-4B0E-A074-BEACCD8C215C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"02700306c0f2b57163cbc190c655857b24b93111","datavalue":{"value":{"entity-type":"item","numeric-id":2410756,"id":"Q2410756"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"488ff4765ce8d8730e7b2bcd3af49aa032c9fab2","datavalue":{"value":{"amount":"+0.7724371552467346","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":"Q1718043$3C1794B4-5A89-4F48-998F-24639FB7ABB4","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":"Q1718043$3BB55A56-3F7C-4AE4-9986-B41BB026DB33","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1718043","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1718043"}}}}}