{"entities":{"Q1721366":{"pageid":1732107,"ns":120,"title":"Item:Q1721366","lastrevid":57255282,"modified":"2026-03-27T16:17:55Z","type":"item","id":"Q1721366","labels":{"en":{"language":"en","value":"Speed and heading control of an unmanned surface vehicle based on state error PCH principle"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7019434"}},"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":"Q1721366$C4A2CE98-7719-497C-B2F5-83662CA096C8","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"52ac7828866b2f044471d07b19315aa9d56212ab","datavalue":{"value":{"text":"Speed and heading control of an unmanned surface vehicle based on state error PCH principle","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1721366$37DB9B05-AD12-455A-BEC9-C56272E5411E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"12a41690c412129347617fc2b1c6c50721bf2c04","datavalue":{"value":"1427.93194","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$8DAA804E-8671-47B6-BFFC-23D65471ED30","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e98f66f4f585e5e30125af5758a793d46c0b9438","datavalue":{"value":"10.1155/2018/7371829","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$D6FBF344-B9D8-40B9-A60E-021581AAA2E8","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c0adf613e7c7a5aa8398fd7afe25cf3bfc0315cf","datavalue":{"value":{"entity-type":"item","numeric-id":1721363,"id":"Q1721363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$A3E7EBE6-1DB9-41C4-A4A0-F7835F286F3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"53dfec97e2965350e2e780b8ae938bd8f9836267","datavalue":{"value":{"entity-type":"item","numeric-id":354983,"id":"Q354983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$AC16D147-9EAE-4A5A-A3BA-B511E3448B21","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"0c7ac80a0911fed241c08d782eb595d51f9b1e8d","datavalue":{"value":{"entity-type":"item","numeric-id":1721364,"id":"Q1721364"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$CE208EAD-83B2-4B02-9E79-0C51601E70CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"0e095005b3bcc1e95b3fe798bb9b24d09d44d234","datavalue":{"value":{"entity-type":"item","numeric-id":294100,"id":"Q294100"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$675B78DD-40C0-4389-893C-CF8231640EFD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d3fa9a4f0a4768df18c1abdf38e826d9ef303e1f","datavalue":{"value":{"entity-type":"item","numeric-id":1721365,"id":"Q1721365"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$EF21FB84-2F19-4B0C-AC8D-589131B757C4","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":"Q1721366$DE33DBB9-180E-4EC0-AF10-E359ED065F5F","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1721366$E18C2C08-7BE6-4953-B917-1B7A900B2EBD","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"dacda6222557c1978038e418f8948cace1bb0072","datavalue":{"value":"Summary: This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1721366$D8CA5054-1280-4FA6-81F8-90D19025E60C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$1E80D601-37E5-44BA-A5FE-E4B22417A22F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$F0E0D363-5647-4B56-B195-D1432CDDA745","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$DDC14050-DD94-413A-A77F-44C0D9BBC08E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"938344edb3fb96e0fbb1f767cfab835f65629149","datavalue":{"value":"7019434","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$95CCEAEF-3E38-4461-886E-6633F4ECE34B","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":"Q1721366$9F47BB96-E11A-410A-B13C-5968F484E801","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"8e807793710b40f69283a8fe381fca1765c82cc7","datavalue":{"value":"https://doi.org/10.1155/2018/7371829","type":"string"},"datatype":"url"},"type":"statement","id":"Q1721366$556249CC-BD59-455F-8968-ABE53DC386B1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"d619ca0992690ab4ee2efdb9316702713d4f8108","datavalue":{"value":"W2785040341","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1721366$D689947C-AA5E-495F-9E84-F07E1BEE1EB5","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5fb41899ee5e4034e8a8a15595f8fa92cb43af53","datavalue":{"value":{"entity-type":"item","numeric-id":357536,"id":"Q357536"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$C2970413-6A02-4E5F-8FC0-AB90CFCACA0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"922e5be65358f93f3f655b7a7edf51d573bd0a27","datavalue":{"value":{"entity-type":"item","numeric-id":354986,"id":"Q354986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$3C3623E7-2A39-4164-B7C6-DAC4CCD7A5F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4701cc1c11bee4308d6b002878e93a215277448d","datavalue":{"value":{"entity-type":"item","numeric-id":1613164,"id":"Q1613164"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$4B574B4F-6CC7-4461-B37C-9897A3C23E79","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bb07aac2d9bdc262818a51a9b2a035fcb1dc6386","datavalue":{"value":{"entity-type":"item","numeric-id":2511925,"id":"Q2511925"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$C939AF6E-8EE0-4989-9CE3-547DF143EB60","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c371601e4fe28f16ab24e4bf99195188c23bbdc4","datavalue":{"value":{"entity-type":"item","numeric-id":1992597,"id":"Q1992597"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1721366$68B35FA7-9A3A-4B4D-8765-DB85E8A49B8B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"85d24fc52e59c53efbd23d181e4012ee404f1e06","datavalue":{"value":{"entity-type":"item","numeric-id":3306516,"id":"Q3306516"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c2bd71bfc90e4f8f89c430a146aefa86bb6e7b83","datavalue":{"value":{"amount":"+0.7842153310775757","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":"Q1721366$05B9C252-F9DA-45DC-A2AB-E603967196AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e7cd30f742d34c30a370009dbdb8ab80e1afeeb7","datavalue":{"value":{"entity-type":"item","numeric-id":3307722,"id":"Q3307722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8febbb663b94c90a3b3e925921518721031515e2","datavalue":{"value":{"amount":"+0.7640720009803772","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":"Q1721366$26966D1F-032B-4BE0-A1BC-564C10FE3A81","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a3e155b40af4756388901f4092b1d392c9085493","datavalue":{"value":{"entity-type":"item","numeric-id":5863695,"id":"Q5863695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4d4e7044b98f86298895a31fd22294996d15796c","datavalue":{"value":{"amount":"+0.7560059428215027","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1721366$C2CB966F-E8FF-4394-9965-3FB053A39C5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"841536a04e8f0fc2efac396d4ef71f60c9c44206","datavalue":{"value":{"entity-type":"item","numeric-id":2125282,"id":"Q2125282"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7c73d9551ebb38b75bc200d3fae00e8aa6b7a06a","datavalue":{"value":{"amount":"+0.748679518699646","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":"Q1721366$3A06AB84-AC21-4AD0-B24B-876DC63307E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1964988e8d23e72b6187089723de688cff748632","datavalue":{"value":{"entity-type":"item","numeric-id":3394267,"id":"Q3394267"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6bdf783b61a97b15106a1ec693e17b0a8784ea77","datavalue":{"value":{"amount":"+0.740696907043457","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":"Q1721366$7B980BC8-60F2-455B-A53F-BF5E5CED5C51","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":"Q1721366$6AE7E076-1E19-4061-85B0-57D94D925F9A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1721366","badges":[]}}}}}