{"entities":{"Q1720514":{"pageid":1731255,"ns":120,"title":"Item:Q1720514","lastrevid":72846303,"modified":"2026-04-14T08:13:48Z","type":"item","id":"Q1720514","labels":{"en":{"language":"en","value":"Dual number-based relative position and attitude coordinated control for multi-rigid-body system"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7018577"}},"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":"Q1720514$E09ED50A-A9CE-4424-BA34-2D7EECEC887C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"66bb6684d1c79f876ddae12df3290d509f369ca3","datavalue":{"value":{"text":"Dual number-based relative position and attitude coordinated control for multi-rigid-body system","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1720514$4523A0B7-4A05-4F56-9B1F-CD747E251859","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f65a85cb0d70e3f819fec76e99945cffbbf1e21d","datavalue":{"value":"1426.70010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$35CA23BC-1305-449B-9CB1-D01353DC3A57","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"457ecb7156f48103e6c85f1674d3f0279913d8a6","datavalue":{"value":"10.1155/2018/1934174","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$A88B217B-A9ED-4B5C-8370-441F95FFC1DC","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4a217bd9659eb648f8d144c6365c088a48998a71","datavalue":{"value":{"entity-type":"item","numeric-id":250814,"id":"Q250814"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$24665CAF-69BA-477C-9645-FB903FE1D75F","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":"Q1720514$1D1B5804-6C9A-426D-9D93-9D830F26572C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1720514$DCF29D1D-C07D-4A09-8E91-5460AF2D88A6","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"01d071125c612b9696b5d23e8cce444865f485a7","datavalue":{"value":"Summary: The paper focuses on finding a dual number solution to position and attitude coordinated control for a multi-rigid-body system. First, a relative motion coupling model of a multi-rigid-body system is established under the framework of dual number and dual quaternion theory. Then, a coordinated control strategy that uses graph theory based on a derived new type of dual quaternion is proposed to simultaneously control the position and attitude of a multi-rigid-body system. Finally, the resulting Lyapunov function is proved to be almost globally asymptotically stable. The simulation results show that the proposed algorithm not only achieves unified control of position and attitude but also exhibits better tracking control performance.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1720514$BB5B131B-62FC-4F06-A280-F62E806878B5","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$5099EC09-0905-4523-A39E-A50BAF89AA64","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$3A51411A-14E9-41BA-8C68-61B526A722B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$EEEBEB62-5BB5-4DF4-BD3D-5FCF4128303D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"29514ca1d85b0b0af0accc314e06da221f9f8c0b","datavalue":{"value":"7018577","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$2A272FED-4272-4B65-8235-E622E29D94D7","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$A47712C7-9DD9-4F83-AB8B-31CE704D006F","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e2ff5f2eb0a337fceab7f8573f453630d1ae9bb1","datavalue":{"value":"https://doi.org/10.1155/2018/1934174","type":"string"},"datatype":"url"},"type":"statement","id":"Q1720514$2B60058F-8D42-4B37-BAC2-4364D850BC7E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"c837bd982e2a3d7d541230124f39d7e04aace4be","datavalue":{"value":"W2900800875","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$2F7D7DDB-632A-4B0F-BD4A-2BF75ABF1F26","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"9a9dd51e66518bb9c00c8bc33820a6b4d4b97d67","datavalue":{"value":{"entity-type":"item","numeric-id":2982817,"id":"Q2982817"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$45BBF7EE-5AC8-4084-8013-0411104F5284","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"18e4d43a66b3ffc7705f698f4a26dc940dac3b15","datavalue":{"value":{"entity-type":"item","numeric-id":5293797,"id":"Q5293797"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$21F342AB-794C-485B-9BBC-85551A946148","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"aa1f2eb28d17314c2e2687dae314f416667bf6a6","datavalue":{"value":{"entity-type":"item","numeric-id":2821414,"id":"Q2821414"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$393E1962-C9D8-46BF-A0F4-D8DD698A7EB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"355dbc3d1f9a453210c0013003c5c2f699680224","datavalue":{"value":{"entity-type":"item","numeric-id":984746,"id":"Q984746"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$F863EF3C-19B2-4A74-8076-BC450C40A3F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"43bd93d8c70a9a6e1939a9553f2174c79f224965","datavalue":{"value":{"entity-type":"item","numeric-id":2356694,"id":"Q2356694"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$BE1105CA-D3C4-40CB-A3B1-132A009547E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8fec0e5f981bb23d7b84de8aa1092dee842b5256","datavalue":{"value":{"entity-type":"item","numeric-id":2795127,"id":"Q2795127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$993C9F65-A83A-4761-9C25-FA0EF72A4014","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0d16a211d0ec5b5c3c17e112ead73478ae8dcd26","datavalue":{"value":{"entity-type":"item","numeric-id":333058,"id":"Q333058"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$DF06CAF8-D063-44AD-A41A-262814C0E7CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"111b683f3b4cbc29bbd42f8e88541a2f2e2e49af","datavalue":{"value":{"entity-type":"item","numeric-id":360669,"id":"Q360669"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$11B056CD-706A-42C4-BCE9-090E41D9E341","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"46093e2ce322f664582e7c47f862b1bf3893dee7","datavalue":{"value":{"entity-type":"item","numeric-id":1301139,"id":"Q1301139"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$5DAA8B59-3E9B-4473-A8B0-9DFAFCDA2757","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef4cff5350c618e6161fab465d6226e21fcd4d01","datavalue":{"value":{"entity-type":"item","numeric-id":764976,"id":"Q764976"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$E22D9822-8965-465F-9177-0F6EB0120411","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"77eb923893c4f55635f7b9a37f6711f7ec62b6b4","datavalue":{"value":"Q128863235","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720514$CDF82FE8-156D-445D-BE10-7D978C2DB7DD","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3c01885426c68e28bb392742c584920ffd039448","datavalue":{"value":{"entity-type":"item","numeric-id":1949127,"id":"Q1949127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"542d072b29fd410cb3eb27e352a0abfcf43072e5","datavalue":{"value":{"amount":"+0.7912989854812622","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720514$A2943794-9B95-4AB6-8146-A5DF5D4FF867","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"be1da2e60b4c28d7ca1aca86c7cc49b1d3b1eff7","datavalue":{"value":{"entity-type":"item","numeric-id":2291052,"id":"Q2291052"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"84f9c551b959993f1689587b52b5b3c55e98b4be","datavalue":{"value":{"amount":"+0.7412112951278687","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":"Q1720514$C96028BB-3293-4D33-A4C0-0520D44F19DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2e0e03ea24d5d2b27f4eb8b97e5f8b8a702a499f","datavalue":{"value":{"entity-type":"item","numeric-id":2628610,"id":"Q2628610"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3591c8f90414c651251eabe4bf2813ce1c5832db","datavalue":{"value":{"amount":"+0.7307887077331543","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":"Q1720514$7272900A-46C3-4A80-8877-FE87AC0CBF18","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"933c5e1f99eda0e8235f2d09db1a43a80908c29f","datavalue":{"value":{"entity-type":"item","numeric-id":286250,"id":"Q286250"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"28f9439050a4ce66ab9477230126d2a81cc6dcac","datavalue":{"value":{"amount":"+0.7255258560180664","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720514$C0A604ED-B7D1-4A17-AA53-7334AA38A6DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"028a6e306e4d9d13c5d7a2ba47958533ada72aed","datavalue":{"value":{"entity-type":"item","numeric-id":3133851,"id":"Q3133851"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"65a26ccf4008653aa7996a50341b163cf5fb8941","datavalue":{"value":{"amount":"+0.7241598963737488","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":"Q1720514$78676FEE-6DD2-4B22-9D3B-8B15C780CA7C","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720514$66B74982-4705-41E2-A247-A43E886C3BA7","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Dual number-based relative position and attitude coordinated control for multi-rigid-body system","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Dual_number-based_relative_position_and_attitude_coordinated_control_for_multi-rigid-body_system"}}}}}