{"entities":{"Q1719534":{"pageid":1730275,"ns":120,"title":"Item:Q1719534","lastrevid":74236233,"modified":"2026-04-14T19:06:36Z","type":"item","id":"Q1719534","labels":{"en":{"language":"en","value":"Adaptive sliding mode control based on uncertainty and disturbance estimator"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7017774"}},"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":"Q1719534$33EB3919-DB9B-4D8A-B297-5726A84ECDDD","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0668c79217c37fa1ee624c5f4bfd437d5211e928","datavalue":{"value":{"text":"Adaptive sliding mode control based on uncertainty and disturbance estimator","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1719534$01F81954-FE7F-45F4-A3D6-3EA0C80FA5BE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f78eb927b4393c04a364044bd462cd5550b65c10","datavalue":{"value":"1407.93093","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$9B485F36-98BD-4C4D-BCF3-D7C1DC91857B","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a8c38750c52a65a9494d0c6dab70baa102c7c6e6","datavalue":{"value":"10.1155/2014/982101","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$C60A5186-B450-42C1-891B-CDE627E47097","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c2ac5aa9ee128c237dd0ac63f6f566973d10f02b","datavalue":{"value":{"entity-type":"item","numeric-id":669281,"id":"Q669281"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$05642977-2D99-4AA8-A1EF-AAE28004012F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e33c2d161b87fb3e37402fecb052c2ef236d6ae4","datavalue":{"value":{"entity-type":"item","numeric-id":1719533,"id":"Q1719533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$7B385D2A-F150-499E-A3FD-7C4B93A1F725","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":"Q1719534$1C563A59-43FF-4076-A966-5FD81A52E3C9","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":"Q1719534$73286025-96D8-4CEE-95B1-DF4BC819347D","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"163fe85f8679b4c4488beacdf695a957a9ae7c97","datavalue":{"value":"Summary: This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, discontinuous sign function does not exist in the proposed adaptive sliding mode controller, and it is not replaced by saturation function or similar approximation functions as well. Therefore, chattering is avoided in essence, and the chattering avoidance is not at the cost of reducing the robustness of the closed-loop systems. Secondly, the uncertainties do not need to satisfy matching condition and the bounds of uncertainties are not required to be unknown. Thirdly, it is proved that the closed-loop systems have robustness to parameter uncertainties as well as unmatched model uncertainties and external disturbances. The robust stability is analyzed from a second-order linear time invariant system to a nonlinear system gradually. Simulation on a pendulum system with motor dynamics verifies the effectiveness of the proposed method.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1719534$20A0E49F-25BC-4082-8753-CB397D23EDFC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$D99CA394-4EBE-4420-A5C7-FA79C6CAF43C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$51817482-6617-40DA-93BB-9A54115FB2C5","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"206bec4db60ef713b9f063824d5a02c3a2c0450f","datavalue":{"value":"7017774","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$1B1ECD87-705A-4296-AFA2-0124B6332091","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"a308c4554c08a0b85c7be80f50e0e4d11a26dfb2","datavalue":{"value":"Q59071385","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$6A1D56A6-B214-4009-BC75-82212CDD43E6","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$B3AE8C11-7544-4979-8B32-CF116A77C398","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4410c48992e72e008ff8485ab2e349580d262072","datavalue":{"value":"https://doi.org/10.1155/2014/982101","type":"string"},"datatype":"url"},"type":"statement","id":"Q1719534$E61E95A5-4E83-4228-81CC-61A58559E78A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a0f9722052d04ed52bd1fa29c712a41c546778ee","datavalue":{"value":"W2076914316","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1719534$666FCA9D-7CA2-4313-82C9-C0ECB1072750","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"cd8cfdd34c558b2a9b7058a792764daf2ac928e5","datavalue":{"value":{"entity-type":"item","numeric-id":1189447,"id":"Q1189447"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$6C62320F-806B-4E1B-94CD-EC1AC32CEB7E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"98d4d033f5ee6e53d084e8476c5833bab248583d","datavalue":{"value":{"entity-type":"item","numeric-id":2730231,"id":"Q2730231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$B7467E44-9F8A-4A03-8B17-0ADDB868E954","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"83861b156c92b98e860a7c83ac405ff78dee72b6","datavalue":{"value":{"entity-type":"item","numeric-id":5282288,"id":"Q5282288"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$AFAC83E8-E7C1-41CA-9126-B412B01124EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"df4d9269047369c4c9413e3cfb594b52f880b9c1","datavalue":{"value":{"entity-type":"item","numeric-id":445877,"id":"Q445877"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$9EAA36BB-AE2E-4514-8C66-84DCE177B864","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b12e3be703ce844c088113a37f8982e4ba91f67a","datavalue":{"value":{"entity-type":"item","numeric-id":1939602,"id":"Q1939602"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$4F4CF692-A4BA-47B0-A442-2B41529E9A21","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f0fb9e8ed9a813c397719e495d9b59a3b75aae4d","datavalue":{"value":{"entity-type":"item","numeric-id":4278233,"id":"Q4278233"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$2560867E-D36B-419C-9995-96A4BDC2E417","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5c631bc180bbede1972c4c59bbadccba8a1fee9c","datavalue":{"value":{"entity-type":"item","numeric-id":1894440,"id":"Q1894440"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$6D75259F-7BAF-425E-933C-24B0BF7BC833","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"111bcf34044b5367b06620b1fda85ca76ef14d16","datavalue":{"value":{"entity-type":"item","numeric-id":3058330,"id":"Q3058330"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$B84D9E5D-4588-4197-A191-84D8E99344CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c91affa0b75e2ae71d2d6b1071aea568762b7055","datavalue":{"value":{"entity-type":"item","numeric-id":1890998,"id":"Q1890998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$AE4CA085-5922-4BCA-B2F8-93BDE7CB705D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4d2d8cfa4a8c3bfe0363767f8fe40dc31de81e08","datavalue":{"value":{"entity-type":"item","numeric-id":5947641,"id":"Q5947641"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$92EF6FEB-2BA8-4EB5-83DE-CBD858968224","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2b9c2dfa44c1f2e0b55266797982fa74437a0f4f","datavalue":{"value":{"entity-type":"item","numeric-id":1765178,"id":"Q1765178"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$657AFD49-E756-4E8A-A632-69B8F1C37ACC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b983f82d279f762e478114c97e5754cedd3adf7","datavalue":{"value":{"entity-type":"item","numeric-id":3542923,"id":"Q3542923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$074F8F0C-2030-4B5D-A740-E2A4DD1BA1E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"950e03c0273118b270dcccf452c6fad04e5931df","datavalue":{"value":{"entity-type":"item","numeric-id":2440633,"id":"Q2440633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$584887E3-8F5F-45C1-A351-5AA310CA3BBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1a0ab4d88730087d45d6a522ed96cda659b145b2","datavalue":{"value":{"entity-type":"item","numeric-id":3074635,"id":"Q3074635"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$29527914-E786-4865-976D-5EB165E71138","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e61105c67a6075c6e087fa4ec75cda64093e942","datavalue":{"value":{"entity-type":"item","numeric-id":5416906,"id":"Q5416906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$E55B2D91-15A0-4D0D-AA20-4B5BC1380507","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$9A58DBD4-690C-4995-9757-6326474337AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c632a41f1e39d0d84c8669d3fe836e9d646f6c49","datavalue":{"value":{"entity-type":"item","numeric-id":4681659,"id":"Q4681659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1719534$D8172542-76CF-423C-93F9-946AFFD96A9E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5732db7545ab481491d8cd28e93a504c8c56873a","datavalue":{"value":{"entity-type":"item","numeric-id":2886413,"id":"Q2886413"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"60c6ba8c7f7ede6971258faaeb2a4d82dd7fd1b3","datavalue":{"value":{"amount":"+0.8284232020378113","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":"Q1719534$C4A42E72-3852-4D5E-9F02-F4B133241F4F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1a669ec4727fbd04bab1e2eb0f3ffc286e10f1de","datavalue":{"value":{"entity-type":"item","numeric-id":5416906,"id":"Q5416906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"780cbf28708538d0eb96591b46fa555a536c8be3","datavalue":{"value":{"amount":"+0.8223923444747925","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1719534$AF9482FF-45F1-422B-9DCD-09B1623F9B55","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7177eeb73d0af141d8faa34341d1780146a84d6c","datavalue":{"value":{"entity-type":"item","numeric-id":5260664,"id":"Q5260664"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d08edcb99172df6627bbb20e81cd8b8eeaecc667","datavalue":{"value":{"amount":"+0.8176997900009155","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":"Q1719534$B2C4FCB9-D0A3-4EE3-AE42-990C8BD99E02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3a3934c65f84599a56c8dc43545d4e1b4da18a38","datavalue":{"value":{"entity-type":"item","numeric-id":5117272,"id":"Q5117272"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4bf58ea71956e9c728f79a5915b296cbaa5b4d19","datavalue":{"value":{"amount":"+0.8159251809120178","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":"Q1719534$81815CFC-E4B2-4405-A1BD-97A39651458F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"650d9761af6a5c03695a487cffb2997ba0744d6b","datavalue":{"value":{"entity-type":"item","numeric-id":5172948,"id":"Q5172948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6ed09d13e93815af0ade42df0545b2dab5c20d9f","datavalue":{"value":{"amount":"+0.8041043877601624","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1719534$D4462D76-97F9-465E-BBAC-D36F2C9C8980","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":"Q1719534$A40857F1-8924-4CEF-AB27-454C2A926BBF","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Adaptive sliding mode control based on uncertainty and disturbance estimator","badges":[]}}}}}