{"entities":{"Q1939852":{"pageid":1950594,"ns":120,"title":"Item:Q1939852","lastrevid":71913795,"modified":"2026-04-14T01:22:59Z","type":"item","id":"Q1939852","labels":{"en":{"language":"en","value":"Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6141337"}},"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":"Q1939852$3A5F4A1F-4EAC-42D5-BE4D-F4A9DADFE909","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"902b52ffd2f22a4633b072f64a3f0729c160651e","datavalue":{"value":{"text":"Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1939852$A073E3D1-4CBA-4A42-9F73-7F0D2A7DD60D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"120a6052028bc322c9498e78cb3b96baab1b03ed","datavalue":{"value":"1258.70018","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1939852$B7736107-9E8E-41EE-8795-BE1A90577E99","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"14071219ceb48298a66c1b57351d2d523b89af9d","datavalue":{"value":{"entity-type":"item","numeric-id":835366,"id":"Q835366"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$B399615E-1922-4F57-97D8-6A1046BCC352","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a491a90f7f13af2d3f6d15d0b9b3b86540d697c7","datavalue":{"value":{"entity-type":"item","numeric-id":164092,"id":"Q164092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$29EEEFF8-DCEB-4515-B9B2-AB9FD4EA41CA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ad91c86c31fb779a94186ba52d8d9ee15f95f0e8","datavalue":{"value":{"time":"+2013-03-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1939852$FF41D761-D7CF-4B3D-B865-2A9D953406DB","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1939852$97F426A9-9D59-4222-A869-779A2AF665CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1939852$B8375D82-C5E5-4BBA-94E2-BF45B0EBB6F4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"928ce2d22fca19b92aeb7420ec37eb1a140bf99b","datavalue":{"value":"6141337","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1939852$FC2C130A-E532-47E6-9646-D027C3757107","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"07e82951ab22f654f405a3a6f5b06ab8f72b2ad2","datavalue":{"value":"manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1939852$2455F56A-D147-43AD-B3A2-9DC27864EA7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dc59a7163cfa2173d36b34ebccf94ab5cf75e7d2","datavalue":{"value":"inertia matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q1939852$28AC2717-1961-4331-AA17-3E5D7D14EF14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"960fc0c758470d5194eed1ddd4e08c3c6a3258cc","datavalue":{"value":"robot control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1939852$6F6DF4E7-603F-482E-BA8E-E41AE9EC948A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1939852$20F69AA4-B823-4B00-B410-FCD8DD8A71B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"33f15ff29c5509a273ec2cdd31f772f0176048f5","datavalue":{"value":"matrix equations","type":"string"},"datatype":"string"},"type":"statement","id":"Q1939852$C1B891D1-09C5-4B3E-AF82-E6E61A188D78","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":"Q1939852$44C74102-5A24-4A27-91BB-EFBF50996C7A","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"417750afdef76f33e867881c549c19b06cad6e71","datavalue":{"value":"https://doi.org/10.1016/j.mechrescom.2008.09.010","type":"string"},"datatype":"url"},"type":"statement","id":"Q1939852$E20DF9A5-1869-467E-B8A9-1EED765F4365","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"569fb9a757216950878367779ed78585ee0ce6c7","datavalue":{"value":"W2080211908","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1939852$8169259D-0928-40DE-913D-347E53A42C27","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"32ee9c1d43a407710e489e587c94733e431c0976","datavalue":{"value":{"entity-type":"item","numeric-id":1858372,"id":"Q1858372"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$B634D915-5EA0-426F-BBAF-9D62439ACFB3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"63ebf02d2c1ab6a72a266ac862961789d95e8e87","datavalue":{"value":{"entity-type":"item","numeric-id":4695350,"id":"Q4695350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$E2892583-3A4D-46FE-B622-155D4F3D3ED4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"20b145dcc79f731461fb5144596c8911f3340de3","datavalue":{"value":{"entity-type":"item","numeric-id":4835205,"id":"Q4835205"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$B03E7965-C701-40F5-8EDD-12D3A422FEB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f72dbcf72fcd8b461155aaabe14e32e9dd3869a4","datavalue":{"value":{"entity-type":"item","numeric-id":4546835,"id":"Q4546835"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$85FCCB34-4624-486E-AE1F-66B164881017","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c8ef10d3050f6e950c97cf7244055323db2a572b","datavalue":{"value":{"entity-type":"item","numeric-id":1361329,"id":"Q1361329"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$DEB25340-D83D-4053-AA07-E3808BE8969A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a551e73da3c7acda49657271740627753c61c20","datavalue":{"value":{"entity-type":"item","numeric-id":1972234,"id":"Q1972234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$9E5FD535-FCBF-4D0D-BD33-7E666624FC35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$CEA48510-0EB0-4D3C-812A-83029759A47E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"595bbd7a5ef74ebe53f5bd0eb7ae4c2acc399c8c","datavalue":{"value":{"entity-type":"item","numeric-id":4031527,"id":"Q4031527"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$2CE0ECD6-4001-42DD-BD86-17F1232E15AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d12312e05f388c4a4a9276f2c862f90a59d34112","datavalue":{"value":{"entity-type":"item","numeric-id":3358611,"id":"Q3358611"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$57AD72D2-267A-4378-95C3-34A19EF53233","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d7bc2bca3b48fdc81c7d447431ef2ed7b068881","datavalue":{"value":{"entity-type":"item","numeric-id":3791045,"id":"Q3791045"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1939852$B2497BD8-6628-440E-8C2A-0FA8963BDEBA","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"cdb0552c7e71d1939d82c2d17efbc1158f6877eb","datavalue":{"value":"10.1016/J.MECHRESCOM.2008.09.010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1939852$922E1DB1-905F-46C6-A8B0-69C00447347F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"41b14519601496f40d97908c995845eb629bd14c","datavalue":{"value":{"entity-type":"item","numeric-id":2506860,"id":"Q2506860"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1d9dfd26330d004b5c0d64b5a55e0724b70c2535","datavalue":{"value":{"amount":"+0.7950150370597839","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":"Q1939852$072535AF-DA17-4DEC-A8BC-1A4BA1F96800","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c8979edd7deeca967599022192d06b459a299a0c","datavalue":{"value":{"entity-type":"item","numeric-id":1361329,"id":"Q1361329"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"de689d1dd79b8224cd46af762787aa2b0d480b7e","datavalue":{"value":{"amount":"+0.7595606446266174","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":"Q1939852$666CDB44-5ACA-4275-B959-731C7EDCC1DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c759c10ad6825d75a5296936fd80c4fdff6282bc","datavalue":{"value":{"entity-type":"item","numeric-id":4385242,"id":"Q4385242"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"de689d1dd79b8224cd46af762787aa2b0d480b7e","datavalue":{"value":{"amount":"+0.7595606446266174","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":"Q1939852$119F66EC-079A-44D3-A18B-27A222FC9210","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e1e8b7113295d4771c0ac551efb9226a1c08685d","datavalue":{"value":{"entity-type":"item","numeric-id":4721936,"id":"Q4721936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"45fa259c4f8e67bca4d97bc0fbc66ef5e86f1f98","datavalue":{"value":{"amount":"+0.745721161365509","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":"Q1939852$9CB0B7A1-769C-40CE-8371-9590077CC5EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"67f2408ce9ec1eac964bc9e81f4f784a173dbead","datavalue":{"value":{"entity-type":"item","numeric-id":4662746,"id":"Q4662746"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ac7b652c5a5a5c80c3aac7e508425b2a7e948f9e","datavalue":{"value":{"amount":"+0.7447519302368164","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1939852$CC9D7BAB-CD92-4768-AA58-82B9EF6FA92F","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Strict_Lyapunov_function_for_sliding_mode_control_of_manipulator_using_quasi-velocities"}}}}}