{"entities":{"Q2148447":{"pageid":2159190,"ns":120,"title":"Item:Q2148447","lastrevid":54348719,"modified":"2026-01-26T16:39:14Z","type":"item","id":"Q2148447","labels":{"en":{"language":"en","value":"Robust trajectory tracking control of non-holonomic wheeled mobile robots using an adaptive fractional order parallel fuzzy PID controller"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7547279"}},"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":"Q2148447$15FD799D-B985-4FFC-9A25-04E685800CB9","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"793e9aabb5111e8bee03da95d7c7cb9a47c13f17","datavalue":{"value":{"text":"Robust trajectory tracking control of non-holonomic wheeled mobile robots using an adaptive fractional order parallel fuzzy PID controller","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2148447$6DBF0305-D132-4A73-ACAA-A41C24C61135","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"494af6b9e214a377e29d32c924045055aac8fecf","datavalue":{"value":"1491.93068","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$3A38BCDF-0211-43EE-8E12-6FE52F0BA0C5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e4c8ddbedcafe660aef1d833ba5c958a9d075dfe","datavalue":{"value":{"entity-type":"item","numeric-id":2148446,"id":"Q2148446"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$B36D184D-3634-4496-9523-74A6CAA9888A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"cc35f0184a4d4b4e9b13a6add4a502e753ec301b","datavalue":{"value":{"entity-type":"item","numeric-id":327976,"id":"Q327976"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$17AC967C-59DE-4749-BFCE-FCA081758191","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7b4384739aa889614569141ae1571998022b2d73","datavalue":{"value":{"entity-type":"item","numeric-id":327977,"id":"Q327977"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$C6BF653A-F112-493E-BE4D-F5284C8DAC63","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$BB77B05E-27FF-49A5-B7B1-9A57252E66FD","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c9bbc3a7cbbc97cf0b4e147ebc83c703a8500597","datavalue":{"value":{"time":"+2022-06-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2148447$CCD077D6-7BCB-4A4D-A251-B28EB4FFC278","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$710E8F3A-300A-40C7-945D-9A82F84E8001","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$82B9466A-17C9-49AE-9556-7D82ABA81E7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$2193B5E4-5178-477A-BFD0-A8EA512A4DEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$D67BEC25-C92E-4D85-930B-911C43DD7363","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a5f9e2c8a0d187351b885168f9768caaf3def61c","datavalue":{"value":"7547279","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$0C8A4DCA-92D9-40C6-A7E7-15624013EC29","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4f7846b54a618cf2de8efdc8215e216397f50525","datavalue":{"value":"MIMO nonlinear dynamic systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2148447$1A8BD5AB-3422-4AF8-BBB8-06C458BE4538","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"edacd01aece6c5c6e685284e6b85c76e17ae8764","datavalue":{"value":"non-holonomic wheeled mobile robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q2148447$EE4C4B84-1867-4429-823A-DAAB9A1C302B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2be8998418900b599f62367305c2b32209ac27f1","datavalue":{"value":"adaptive fractional order parallel fuzzy PID controller","type":"string"},"datatype":"string"},"type":"statement","id":"Q2148447$15C30BDC-E353-4C98-83FD-74A09AF38390","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"446e749037b23de0870d6941430c2b78d2d3fed9","datavalue":{"value":{"entity-type":"item","numeric-id":1354527,"id":"Q1354527"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$E807557A-9A96-4410-B6D7-7E684FF88A9F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1463","hash":"f83ab7ad47aae125e1df27e022922b19c2ccab83","datavalue":{"value":{"entity-type":"item","numeric-id":5974792,"id":"Q5974792"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$D13FB5C2-6266-4844-BB85-4E2FC2B660CA","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$ED68B6BD-B5A5-41E3-9D65-1FDEE8F240E8","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2848b25db91392b4b6e210cec53392f6c3ef66a0","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2022.03.043","type":"string"},"datatype":"url"},"type":"statement","id":"Q2148447$F55A4C00-EA54-4568-8DCA-EA31D498FC73","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2f3cfa674a83175d04d7c3f12ff35565a242bb05","datavalue":{"value":"W4223484842","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$CF3980C1-1D88-4406-9372-54C58AA68AC6","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"32f3675b842debfc98e94ab41cf2f30a41bc25cd","datavalue":{"value":{"entity-type":"item","numeric-id":698684,"id":"Q698684"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$DEFFBE66-61A7-4C21-810D-26ABC3E584E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"118ba9cb92484bbdc5a8c775745538ad17b21530","datavalue":{"value":{"entity-type":"item","numeric-id":4256884,"id":"Q4256884"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$B35D907F-AFDC-4211-A7BD-1D3FBBD773BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa061cd1210179893db76a52f407f12857dfeb5c","datavalue":{"value":{"entity-type":"item","numeric-id":4590500,"id":"Q4590500"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$88BADF3F-0E69-452B-99D8-3C9D5461D44A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ca73fff615cbf85ea03cece7429dfb4745a5958d","datavalue":{"value":{"entity-type":"item","numeric-id":5706746,"id":"Q5706746"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$781D1495-FE2C-41A8-A3E8-57134E11FB18","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1f74ffb1a767a8832602132c656e51998ed6a195","datavalue":{"value":{"entity-type":"item","numeric-id":4506641,"id":"Q4506641"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$AACE0C94-D7F0-43C0-86AF-E70B37723814","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"abbe8e5b3b53d3346b1efa08b8d603400e285d85","datavalue":{"value":{"entity-type":"item","numeric-id":3058469,"id":"Q3058469"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2148447$B00ECFA5-BC2B-4870-8F99-7D5540F89915","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4c15c02fdeec5b9bc07531e5642803569cddd5f8","datavalue":{"value":"10.1016/J.JFRANKLIN.2022.03.043","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2148447$387E623D-E42B-45A6-8593-E1D3DA669E90","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"efa2eb498800c8b0ac6ea0182b512cd6fb6b33b5","datavalue":{"value":{"entity-type":"item","numeric-id":1992652,"id":"Q1992652"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"69ee0bcfafb36d1c550532e9bf8aee879e215216","datavalue":{"value":{"amount":"+0.8178933262825012","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":"Q2148447$9DA2A6E9-6B6F-4BEC-B9E9-013CA1F8326C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"436804b6ae099abf0e542bd168814ae38d9a9392","datavalue":{"value":{"entity-type":"item","numeric-id":5494511,"id":"Q5494511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ab0c7a04b5a91af9da49cc44f14b8485efd07922","datavalue":{"value":{"amount":"+0.8144642114639282","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2148447$DF32DEDA-2986-4F00-9D8F-40770B59B3BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"77591de0a42fd89951e3c070019f2041cb29e514","datavalue":{"value":{"entity-type":"item","numeric-id":328335,"id":"Q328335"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"82c47506d6a62264fdd6afc28bf041825482ea9b","datavalue":{"value":{"amount":"+0.8137362599372864","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":"Q2148447$E31AFFC1-7DFE-4EF4-A732-DD514A3C8BD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9f4143bf5bb4cbaae58043ad55f719076e35ac76","datavalue":{"value":{"entity-type":"item","numeric-id":2296273,"id":"Q2296273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d2162815b4d8184e8d00d7eb7ba5dfbdc753c977","datavalue":{"value":{"amount":"+0.8117741942405701","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2148447$AF537CEC-8C2A-4810-A6FA-F77A0B5DEF42","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9a68ca8ba2c585a34a9be052203981e4ed4821ef","datavalue":{"value":{"entity-type":"item","numeric-id":5174593,"id":"Q5174593"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"096631c3b5885804c3bcba6aa0f949032a117d5c","datavalue":{"value":{"amount":"+0.7987118363380432","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":"Q2148447$D5F06F9D-E170-47BD-8441-71FD3D2B44B2","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2148447","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2148447"}}}}}