{"entities":{"Q1720605":{"pageid":1731346,"ns":120,"title":"Item:Q1720605","lastrevid":73818705,"modified":"2026-04-14T17:22:14Z","type":"item","id":"Q1720605","labels":{"en":{"language":"en","value":"Adaptive learning based tracking control of marine vessels with prescribed performance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7018670"}},"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":"Q1720605$E459BC3C-160A-454D-B05C-27DD39744ED5","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"cbfc02c4b1b0a161c85efd63bd0e2aa55c692b7f","datavalue":{"value":{"text":"Adaptive learning based tracking control of marine vessels with prescribed performance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1720605$762296B8-1785-4DE6-81D5-8D49033FF651","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3ece065570d0ded6c4135e6588708e55e423d804","datavalue":{"value":"1426.93155","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720605$B4A4BA5F-B00B-43D8-982A-CE30876FABC3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"eea8b0f952f65ad7dcb68a146911a253a7677d92","datavalue":{"value":"10.1155/2018/2595721","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720605$9AFA1A7B-C09F-459C-ACDA-C98177A50749","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"570a6f958f0a6cd5146415989a018ed115f54970","datavalue":{"value":{"entity-type":"item","numeric-id":327185,"id":"Q327185"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$BC9AB4B1-C442-455C-8DB8-70084F22668B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2a3164b3f8c5f01995126a308473a43da17710ac","datavalue":{"value":{"entity-type":"item","numeric-id":445116,"id":"Q445116"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$85A512B3-363F-4A5C-9849-C04957943423","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"78d70c607b29594d4da2bdfbad44492e08fa593f","datavalue":{"value":{"entity-type":"item","numeric-id":518305,"id":"Q518305"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$93021F18-AB12-4C09-9563-FE147F09D1E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"9a9721fee85d1f78b761d7d8a533d7f1e2748a4b","datavalue":{"value":{"entity-type":"item","numeric-id":1629595,"id":"Q1629595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$C05757CA-1AC9-47B3-BFD1-3B758521202B","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":"Q1720605$AAD7D278-5E5B-4E83-9D0E-1C86FF1C4EA0","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":"Q1720605$0488C7D4-FFC3-4E30-A2DC-EEF162F6F28A","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"770a7426bd5a8f74dd9322ff708743fcdc59aa36","datavalue":{"value":"Summary: A novel adaptive tracking controller of fully actuated marine vessels is proposed with completely unknown dynamics and external disturbances. The model of dominant dynamic behaviors and unknown disturbances of the vessel are learned by a neural network in real time. The controller is designed and it unifies backstepping and adaptive neural network techniques with predefined tracking performance constraints on the tracking convergence rate and the transient and steady-state tracking error. The stability of the proposed adaptive tracking controller of the vessel is proven with a uniformly bounded tracking error. The proposed adaptive tracking controller is shown to be effective in the tracking control of marine vessels by simulations.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1720605$3A75134D-3092-4543-8D40-A6D1BD138306","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720605$D1F6BEB7-F813-42C5-84C8-109022AF633C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720605$9A4851D5-B1F4-46BC-A68D-2A5EE6CEA6BC","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"74655c5b66941399ce6688d5c6f512faa3f9b731","datavalue":{"value":"7018670","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720605$F129A0BA-C06C-4882-8766-B48D4723CFE6","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":"Q1720605$15A8F5F9-470B-4750-B118-8D37AB6A7925","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e87b79dd27185c273e93ad80075fbd6dae675733","datavalue":{"value":"https://doi.org/10.1155/2018/2595721","type":"string"},"datatype":"url"},"type":"statement","id":"Q1720605$88D237B5-436C-4ACA-9C78-34DAB105A249","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"5e6f660e8a655c134b35df6d7b4fb2df9cda6ef6","datavalue":{"value":"W2794056942","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1720605$DF99DB36-1B2D-4C11-80DD-7BB3B388FF1D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"44f2d1e38b1b7a154adf197ce5f1cc6df15c02d7","datavalue":{"value":{"entity-type":"item","numeric-id":1012885,"id":"Q1012885"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$9F16DC38-D2A7-4C20-A536-98C1119A428A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60d8967fb6fa57e915571d1ee40d9efaa26e60d4","datavalue":{"value":{"entity-type":"item","numeric-id":4978819,"id":"Q4978819"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$5D634702-35C7-43F8-8AF1-C9C6131DE2F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bbbf03322b1f64c96f687dc73f85388c2b0bdba2","datavalue":{"value":{"entity-type":"item","numeric-id":1941258,"id":"Q1941258"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$E820FFA8-8E63-4381-8A3B-62D86CA603DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c3d69cad1993030cb0404c6c08a45b83e8e3287b","datavalue":{"value":{"entity-type":"item","numeric-id":1764048,"id":"Q1764048"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$538767E8-CA48-4F20-B8AC-557624BAEB01","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8d26309941134ea47cd7268413c4e006579d268f","datavalue":{"value":{"entity-type":"item","numeric-id":3558473,"id":"Q3558473"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b0aead2ae9d8391b3ca3bab1ae8affde030c4124","datavalue":{"value":{"amount":"+0.89798653","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$0A219D74-8511-4D95-AECC-C9D75E132062","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6460b09da605d10a8ddad19900d1c8711ee75994","datavalue":{"value":{"entity-type":"item","numeric-id":5027553,"id":"Q5027553"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5770ae72bd4c3e84c21f1ea1ab3d3d4bcb293729","datavalue":{"value":{"amount":"+0.88315237","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$C82E296D-A958-455E-8778-E69A7AD7964A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"29967a920b80bd0bf8f45f7588211c62c9e86165","datavalue":{"value":{"entity-type":"item","numeric-id":2977610,"id":"Q2977610"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c3b56edb618456c4917d9cdbad7fa4fe3a5c2c7f","datavalue":{"value":{"amount":"+0.8805036","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$B28B15C1-2556-4189-81C8-261C5787277E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"20c1a57e15a9a6cf1550447a5cd93aa29a064eb0","datavalue":{"value":{"entity-type":"item","numeric-id":6055251,"id":"Q6055251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ec5207dce94607cc931d2a424bed1ed9d10da5ad","datavalue":{"value":{"amount":"+0.8790503","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$ECA9D6D4-D973-40F3-9863-E626D6E77B0A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0d2dc6a64ccd5a6e7e62a2dfbeaf84ad8d589522","datavalue":{"value":{"entity-type":"item","numeric-id":4565840,"id":"Q4565840"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"25ada09de5a8bd8fc2541249b3990845fb5b769a","datavalue":{"value":{"amount":"+0.8773596","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$E6CECCC3-6F8A-4149-B771-6B824F607433","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0a5571adef8f00bd9531ea6f2844cad2fb307fd8","datavalue":{"value":{"entity-type":"item","numeric-id":2005296,"id":"Q2005296"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"33a94f85320e9729f495407db663af085ee4b741","datavalue":{"value":{"amount":"+0.86908966","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$293CF92D-2AD2-41F0-BE7A-C3D45EBD1D54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a4e19c0ae489df733a2b90d92ef188e35ec1ce34","datavalue":{"value":{"entity-type":"item","numeric-id":6082795,"id":"Q6082795"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"019796f848f3200035654a0f6756951ab94ac472","datavalue":{"value":{"amount":"+0.8651624","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$E6892BFF-5149-4191-ACEF-758F013AED3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"32d3a7ec74300bd00309945eada677f98fdf580d","datavalue":{"value":{"entity-type":"item","numeric-id":6063187,"id":"Q6063187"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc329d4765e639a14861e8aad0b73f42437c6f42","datavalue":{"value":{"amount":"+0.864076","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$3F0A376E-7CF8-49EF-BD3E-D6E85873A73E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0dd65b05276d2f528b6bbad740d7948c2072033c","datavalue":{"value":{"entity-type":"item","numeric-id":6168843,"id":"Q6168843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d22a1efb59d8f655d8bdae2d72e16b95223bcd7a","datavalue":{"value":{"amount":"+0.86332977","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$1C72F5D5-C856-4452-B595-196207B15308","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ec1f46a676d932544a227ea0f954aec310d41819","datavalue":{"value":{"entity-type":"item","numeric-id":2795799,"id":"Q2795799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0780597b1f05cd11c0219fcbe22a19c8e0b354a8","datavalue":{"value":{"amount":"+0.86127037","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1720605$055C9AA3-CEFD-451F-B8CD-FD614D333E11","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1720605$A91F4566-8070-4DFB-8B5A-ADEDC52A1B90","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Adaptive learning based tracking control of marine vessels with prescribed performance","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Adaptive_learning_based_tracking_control_of_marine_vessels_with_prescribed_performance"}}}}}