{"entities":{"Q1721172":{"pageid":1731913,"ns":120,"title":"Item:Q1721172","lastrevid":68900043,"modified":"2026-04-13T02:59:12Z","type":"item","id":"Q1721172","labels":{"en":{"language":"en","value":"Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7019244"}},"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":"Q1721172$F7BF0322-D33A-4B57-99DA-4848826E27F5","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"329a3d638174f5f273a07dec9694b76b82f2b4b2","datavalue":{"value":{"text":"Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1721172$06F3DF1F-C05A-4800-9281-07B1BA1F60EB","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"2454f5c1e474b01da957d0d34e331436461f42db","datavalue":{"value":"1427.93162","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721172$C346BECB-20BF-4DD6-8F5B-C08AAD0E5D5E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"df21767218d12d6fff73c8e552dfc7b085cc6989","datavalue":{"value":"10.1155/2018/6134764","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721172$2539A1F0-1046-450B-AE3F-5FE7282675D4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6dcf8b29f998e6586890411a08c34f70ea4883f1","datavalue":{"value":{"entity-type":"item","numeric-id":1717924,"id":"Q1717924"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$8EBF7AF1-4B42-4621-8329-B9E75670CCF6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$C5FF0657-E41C-495B-9635-6807EB536B44","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":"Q1721172$37BD9FF2-B5C6-42BB-BCFF-B3A90F5F4E12","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"3ba37eda03ac85d7162a83c808fc969d18cfff58","datavalue":{"value":"Summary: An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. The motion planning problem for this nonlinear system is difficult to solve because of the existence of an uncontrollable manifold in the configuration space. In this paper, we present a method of designing motion trajectory for this underactuated system. The design of trajectory is based on the dynamic properties of the UWIP system. Furthermore, the tracking control of the UWIP for the constructed trajectory is also studied. A tracking control law is designed by using quadratic optimal control theory. Numerical simulation results verify the effectiveness of the presented theoretical results.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1721172$138FFB02-7C12-45C8-B50D-144AFE3A49C1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721172$32C8FEB4-AA79-4A32-BF1F-71EB76E5B6CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721172$60ACA3B9-A740-4A9C-8C2C-3E8E2312B7FB","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"90124933bd4ae34ccfaaaab675e3958cf7e5ab43","datavalue":{"value":"7019244","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721172$846CF8A1-C4BC-43B5-9D40-810AD4381F8A","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$C81EF1EB-168F-49B2-B71F-3CDFE2ED23C8","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"90cb2c781bc290f2906712bad5c1c79d7c46148d","datavalue":{"value":"https://doi.org/10.1155/2018/6134764","type":"string"},"datatype":"url"},"type":"statement","id":"Q1721172$65473E4B-5CCD-4B43-A313-B8862739FFB0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"7b1437828c09a0785269dd354545fbd2cb5b7d16","datavalue":{"value":"W2890215277","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721172$10D73183-B296-432A-82B6-74EB15D892F3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"32aab7e84f1ec88c2ed50579b135aac3b5a7313e","datavalue":{"value":{"entity-type":"item","numeric-id":960888,"id":"Q960888"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$FD9AEA08-C657-4FA0-A0B0-03FB17E349DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f0ef2263bd2a73fe73b938273413711d1720364","datavalue":{"value":{"entity-type":"item","numeric-id":410876,"id":"Q410876"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$FA93383A-8B1D-4A9A-AF3A-B194090F8E84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cd7de8c1a8b494c06b9669a23eb9718d21449f0a","datavalue":{"value":{"entity-type":"item","numeric-id":3187075,"id":"Q3187075"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$99445963-D3EA-45AE-A0D8-358FCB224CA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0dfcf1994306c195731efc01026a8ea5677ea706","datavalue":{"value":{"entity-type":"item","numeric-id":308908,"id":"Q308908"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$0EEC7AA8-A58E-4D16-AD8F-A08DD85DCD33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"40820219b3b0e8b393cd3b23b55ff4964f7f4eb1","datavalue":{"value":{"entity-type":"item","numeric-id":1680827,"id":"Q1680827"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$C4822A55-77DF-4CF9-96BC-FB6C4F16240F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2b268e1882143812aedfde842d8a52fd4653e4dd","datavalue":{"value":{"entity-type":"item","numeric-id":4631807,"id":"Q4631807"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$050B090F-86B3-4BF3-A176-E66495577ABD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8e138e3327b65cb72aa05dcea3a262f643faa975","datavalue":{"value":{"entity-type":"item","numeric-id":2357448,"id":"Q2357448"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$6ABCCAD5-69AA-4885-8A06-E223ECF68E90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"76e2b1dd5c952461b79d9370f252f5f0a7103db3","datavalue":{"value":{"entity-type":"item","numeric-id":5007151,"id":"Q5007151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$A54AA205-668B-4179-96F4-754B579680DE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b6e9c098c33b5b2c5620871121990c0198006a30","datavalue":{"value":{"entity-type":"item","numeric-id":298825,"id":"Q298825"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$2781286C-0D8C-4A5D-8FC7-B2D3C8BB6D42","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d95c82214ef44fffb1b6a7cd303125f0bde39602","datavalue":{"value":{"entity-type":"item","numeric-id":5274084,"id":"Q5274084"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$6E770BCD-6507-4AE4-A37E-8ACCD2A8DA73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9b60a72e1178e13d7514ed8325591ee7dd4303da","datavalue":{"value":{"entity-type":"item","numeric-id":976229,"id":"Q976229"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$5D95227E-A4A9-4139-AC60-01A333584E1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7df0f8b95366ae69e5ec70c81c7ec1b28d7d21d3","datavalue":{"value":{"entity-type":"item","numeric-id":466481,"id":"Q466481"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$010D4E0C-B485-4152-9C55-D5C7C77FAD05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ac276b214e93ed4e0c2bc1e3f822974ca94cff8a","datavalue":{"value":{"entity-type":"item","numeric-id":3006222,"id":"Q3006222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$A1255029-A002-427E-A783-3E0DD6392565","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":"Q1721172$F31002AC-D06E-452A-96E4-AE3D2E25DAB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f7cce4f3bba59bcb37cba658b250ba7c99c420b","datavalue":{"value":{"entity-type":"item","numeric-id":5433584,"id":"Q5433584"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$47A66B62-3005-44EF-B865-09E8ECCAA788","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2dd4fbadf323ffa4a300e70bbce90d0db3f76c8b","datavalue":{"value":{"entity-type":"item","numeric-id":716138,"id":"Q716138"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$CA65E958-10D7-4850-8EFC-E790AA68C381","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9fa7db06fa5581e0a4f0e21a5250f380f80af573","datavalue":{"value":{"entity-type":"item","numeric-id":2356677,"id":"Q2356677"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721172$A86FB5D4-98AF-4C3A-9EEC-79C280BB5503","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"187d51e54c9f6274856c7339a5087ae475e0fc0d","datavalue":{"value":{"entity-type":"item","numeric-id":5223527,"id":"Q5223527"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"511d27a5cf2d3ec87d7a16053a338c40c023db54","datavalue":{"value":{"amount":"+0.8448042273521423","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":"Q1721172$1E72F8B0-8F98-41D8-AB90-52103BF61FC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5b36040b0c3d5faa7d8d61434c6353322be5f690","datavalue":{"value":{"entity-type":"item","numeric-id":5117289,"id":"Q5117289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d18b1ec35716565371bd48f8bed146f84cd7af60","datavalue":{"value":{"amount":"+0.7917466163635254","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721172$C369460E-4C11-4409-9828-CC019D679DDD","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":"6b03075594dd0d10920d5e2dc41ecb874b98e701","datavalue":{"value":{"amount":"+0.7913629412651062","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":"Q1721172$2A103C71-E246-4DDB-A597-A8C4B6767489","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d663980a018376dd5dc546b4eed9223cfe67aebc","datavalue":{"value":{"entity-type":"item","numeric-id":4557455,"id":"Q4557455"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a1e63d696a9f103f731e272e5e8272c825245473","datavalue":{"value":{"amount":"+0.7900707721710205","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721172$B638BB82-D07C-4472-B1DD-FE3CBC936111","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"49b24c5a6332e01490991c69bc870db83e478ded","datavalue":{"value":{"entity-type":"item","numeric-id":2420802,"id":"Q2420802"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4d736b8c88e7ab9e742c760a2add32338851b71c","datavalue":{"value":{"amount":"+0.7862675786018372","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":"Q1721172$425DE0F7-F915-4C44-9476-6D94BEA6C9DC","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":"Q1721172$6432D57B-B6CD-42D6-9007-8E979C67EEC1","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Trajectory design and tracking control for nonlinear underactuated wheeled inverted pendulum","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Trajectory_design_and_tracking_control_for_nonlinear_underactuated_wheeled_inverted_pendulum"}}}}}