{"entities":{"Q1810565":{"pageid":1821307,"ns":120,"title":"Item:Q1810565","lastrevid":69188439,"modified":"2026-04-13T05:21:17Z","type":"item","id":"Q1810565","labels":{"en":{"language":"en","value":"Semiglobal stability of saturated linear PID control for robot manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1924702"}},"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":"Q1810565$08F54A20-DDAD-47C1-B408-F78A33B7FC4A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7bca8a2e604acb22a4370594cb01f8c08e01432d","datavalue":{"value":{"text":"Semiglobal stability of saturated linear PID control for robot manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1810565$2DA27F96-09D3-46D5-9667-56DD89F0DCCD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"a6183c6645d58ca043cd9cfb5b966959dab2b963","datavalue":{"value":"1021.93027","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$8A9BEFCE-1FEB-4504-A86F-0E69D8754E7E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6be9be6e20c05683199240a4650a01de2284cd89","datavalue":{"value":"10.1016/S0005-1098(03)00035-9","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$E7E7E3DA-9F22-4410-B757-7731703297B3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6c403a6d712e52e5a592a7e7c0ada14a73167726","datavalue":{"value":{"entity-type":"item","numeric-id":522678,"id":"Q522678"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$1D9F79D5-B92F-4EF0-8C75-060D84AAA7C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4e7eedbf70c9ff30ce27cafae38a56324c796493","datavalue":{"value":{"entity-type":"item","numeric-id":899201,"id":"Q899201"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$CE8768AD-31FC-4963-B7D7-EB19923B901B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6b08de0b5443c6d1820e1cf366729a42c26867e6","datavalue":{"value":{"entity-type":"item","numeric-id":389855,"id":"Q389855"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$51E01CB9-2070-4399-9B46-563850E08FEA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$740473FD-5576-4D39-ACFD-798723C6C691","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c2d0e39c696776e04b9e53093e3633112a8f4686","datavalue":{"value":{"time":"+2003-06-09T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1810565$173BF99F-713D-4704-A07F-29CDD3541A33","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"c213a71e0d1491dba8c348dede75d5326f446e12","datavalue":{"value":"The authors of this paper consider the position regulation problem for robotic manipulators with constraints on their control inputs. They prove that the robot system under a saturated linear proportional-integral-derivative control is semi-globally asymptotically stable provided that the torque bounds exceed the gravitational torques, the proportional gain is large enough, and the integral gain is small enough.   The authors' stability analysis uses the tools of singular perturbation theory. The analyses are supplemented by simulations of a two degree-of-freedom robot arm.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$D7E0FD1B-1FE1-4D40-A139-FEDE5F9256FF","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$BD1E41E4-1F60-4BBB-A0DE-9CA1CD8F4A96","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$A90D2FF1-228E-46B2-B71A-837F16E5E57F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$D6014C6F-C6FA-425D-BAA9-7E2FABEAE16F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ce22555fb5b8246459f5e7afd0df4871fa291b79","datavalue":{"value":"93C70","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$3C1C7C52-3AB4-4971-9DA0-48326F02B51F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ec9b263832a34d3c1bde7ad0edfa050e4373a115","datavalue":{"value":"1924702","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$8731D328-B1F4-4238-97EB-9A2162E69212","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8f171b07eac5fe55a3ea78a6b1eeef7e62e50f43","datavalue":{"value":"bounded control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$061CBE41-AAC4-4EBC-8601-968510536948","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"54bd8b2fc3aa71e596caa381df3ab7b85924f636","datavalue":{"value":"robot systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$DC107C0F-1A07-426B-9E95-8397BBEC347C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f07b5fb611a017064a461ecd33075c48c2860aa0","datavalue":{"value":"PID control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$6531F65A-35FD-479E-A9C0-F6CD76353310","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fcb3a23686d07ac395209bda792fde84df721357","datavalue":{"value":"uncertain gravitational torques","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$E267524F-B8A6-4A17-988E-97F3B00A34A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34b44e7b40021effdee26093512bde7058814281","datavalue":{"value":"stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$1BFC7F40-9CB5-49DD-AE28-4CB008B1B28A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e02c044d5989631343877f458f58e3d7f2085ef6","datavalue":{"value":"singular perturbation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1810565$50CEC873-5267-458A-B20F-E8DC2B422574","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"6b9102c13c80e8969fe945919ec2c5dd96f51712","datavalue":{"value":{"entity-type":"item","numeric-id":590124,"id":"Q590124"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$7D3A91BD-E28D-41A6-967C-5FAC9BED0FEA","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":"Q1810565$1EA04761-1C9B-4ACD-A410-1F4BEDF5F803","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"0871a26ee38e6e247591025f09f2ebb0d4240182","datavalue":{"value":"Q56419919","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$0E40AB8E-0E8A-4350-A51B-59271B0935D9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e17eb9d77e70c7d639e3b89f934cf0c2970b102","datavalue":{"value":{"entity-type":"item","numeric-id":1315966,"id":"Q1315966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$A3E9A38B-52BA-4EE2-940E-A478C495FD6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"89a7a133e646ba482763c0abcbecce7380521b81","datavalue":{"value":{"entity-type":"item","numeric-id":1315961,"id":"Q1315961"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$2107B8ED-B4A3-46A5-9FAE-69E13177649F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de2bb82d60d4fd99f1c93277efce5cd3184c0228","datavalue":{"value":{"entity-type":"item","numeric-id":4256779,"id":"Q4256779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$A9E2586D-AA4F-461C-9B75-C370FC76EBDD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4f3a5177383e59c4e5db15c202df627ff35a7dae","datavalue":{"value":{"entity-type":"item","numeric-id":1051772,"id":"Q1051772"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$17A0E493-BD4D-4EBE-9432-1F868691AC6C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fc232977028814678f79c5b99f858eef0551acad","datavalue":{"value":{"entity-type":"item","numeric-id":1393658,"id":"Q1393658"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$E45FAFA3-4170-402C-9652-7FD4633B00B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"612785a8452b25734eddbd581eb0dc4c899ac7f7","datavalue":{"value":{"entity-type":"item","numeric-id":4357991,"id":"Q4357991"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$C0667E6C-3EC0-4E6E-91B5-AB71102ED635","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2e3e2ca17a15322c0700a223d28747f397bcd484","datavalue":{"value":{"entity-type":"item","numeric-id":1367304,"id":"Q1367304"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$85EDAA31-C51E-41C0-837A-8F3E0BE0A5C4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f41691a5ecb1c79e5c8aa0dc482a85d957498b2","datavalue":{"value":{"entity-type":"item","numeric-id":3929603,"id":"Q3929603"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1810565$A14DD97D-9A31-4363-B812-7DC3F3CD3E2D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"cc9fcb6e870a1ac8afe86a15956ddf7f4d80386e","datavalue":{"value":"https://doi.org/10.1016/s0005-1098(03)00035-9","type":"string"},"datatype":"url"},"type":"statement","id":"Q1810565$A027C499-F792-4A06-877F-B6ABFEC1323E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"03bc2396bce77951237f974f25468f875126a5f0","datavalue":{"value":"W1980246867","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$691F3E20-7C76-4E00-839A-54599A62E425","rank":"normal"}],"P1635":[{"mainsnak":{"snaktype":"value","property":"P1635","hash":"4d420a723f955524280058a1d52231596dc8939c","datavalue":{"value":"journals/automatica/Alvarez-RamirezKC03","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1810565$552048FD-AC59-48A3-9770-9CE3634554EE","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b52e36df726097cb260e12e536506a4eb139b756","datavalue":{"value":{"entity-type":"item","numeric-id":1583209,"id":"Q1583209"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"87dd81c357a6d08c73cf558034b84b4f5d141fd4","datavalue":{"value":{"amount":"+0.8392885327339172","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1810565$BC11DB26-C105-41A8-B7F2-4B20B4446B99","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e30801a5061ffdefbda0047d50251b80e51d7535","datavalue":{"value":{"entity-type":"item","numeric-id":5940729,"id":"Q5940729"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e63d514735ebaae3a5b5282006f3d5efb02bb89d","datavalue":{"value":{"amount":"+0.8299066424369812","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":"Q1810565$FA86D9DE-19BC-433E-859C-C829E08B4D5D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2c35941722d10b941bdba861dea45bbe443bf8ff","datavalue":{"value":{"entity-type":"item","numeric-id":1306881,"id":"Q1306881"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4c2d40405eb4b8aa788f367613bbfde028f226b8","datavalue":{"value":{"amount":"+0.8260148763656616","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":"Q1810565$54F7D1A7-7163-446F-A1D5-6B8834FE43E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"234094e0b154a6150289366d15b6fa8df81aa79d","datavalue":{"value":{"entity-type":"item","numeric-id":2974205,"id":"Q2974205"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a5603461487f3c903bbf07c6683c08908814fbd3","datavalue":{"value":{"amount":"+0.8221333622932434","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1810565$A9C906C5-20FB-4BD8-9217-23D3DF554D28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"35b39ee8fcb3c85d4858ebacd6fb61981f6e7127","datavalue":{"value":{"entity-type":"item","numeric-id":4506520,"id":"Q4506520"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3f0ffaa9888ff6479a6a17ae9378e589bf849307","datavalue":{"value":{"amount":"+0.8118296265602112","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":"Q1810565$B74E477D-36F5-4E5C-849F-8F0819425953","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Semiglobal stability of saturated linear PID control for robot manipulators","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Semiglobal_stability_of_saturated_linear_PID_control_for_robot_manipulators"}}}}}