{"entities":{"Q2151946":{"pageid":2162689,"ns":120,"title":"Item:Q2151946","lastrevid":71416932,"modified":"2026-04-13T22:07:46Z","type":"item","id":"Q2151946","labels":{"en":{"language":"en","value":"Containment control with input and velocity constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7553612"}},"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":"Q2151946$C85A405E-A6F5-4F82-BAD2-BF68E8C2A62E","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"2639c8634e8ad204dbe4a2ffd7cd804f73605373","datavalue":{"value":{"text":"Containment control with input and velocity constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2151946$A93F7D42-8991-4FA6-96D0-B25A5BEA9392","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"680230aa1904e55b20c834eedd19a34a7fc76a07","datavalue":{"value":"1496.93021","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2151946$FFDD8E45-D2E4-4C9C-907C-9C5B4BA74FCB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d319d274816871083adf8b6ff17d742596601fcd","datavalue":{"value":{"entity-type":"item","numeric-id":777092,"id":"Q777092"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$92744604-6ACF-4124-9198-DF78DDAF1591","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"337efa2b13540b504c6a66c0d002ea33e5c3b02f","datavalue":{"value":{"entity-type":"item","numeric-id":534314,"id":"Q534314"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$82A0D1C6-B91F-4083-9C3F-DCBDD8795F32","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3edaf5f47fbe2176a8692f01fc965d47146cb851","datavalue":{"value":{"entity-type":"item","numeric-id":335504,"id":"Q335504"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$F0CBFFDE-9806-4C1C-B8CE-152CC8DDC153","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"644712e5e5b26d949aee4ebdf3bf86082740fd66","datavalue":{"value":{"entity-type":"item","numeric-id":489470,"id":"Q489470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$A322DADB-C080-4066-89DA-959493570B47","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":"Q2151946$030D3437-05DC-4ABC-8135-5DE92D2530F1","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"602971bd841fb167db0bb525fe3dedcfa9788b03","datavalue":{"value":{"time":"+2022-07-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2151946$C9EFD38F-D550-43FB-8620-4A358E98284A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"087647ba2abb2bab4ed9f998c2f5e73922e112f3","datavalue":{"value":"93A16","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2151946$198FCA85-E985-44D9-850C-86151191D235","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"39a0025ac480893a6c3723330b06364463bbd01f","datavalue":{"value":"93C55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2151946$69EDE096-66F0-4EAA-A4B3-0D46F5150276","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"da4b4d555932f13120c95f298ed1cff9cf816c0b","datavalue":{"value":"7553612","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2151946$A1170BCD-DF31-4B48-A8FD-9A968406C0E6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"65c3b98487eb404131cfd6dc457f97f412fed996","datavalue":{"value":"multi-agent systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2151946$C776B8C3-9FDC-4FD1-B1B3-15BDC8A6BE4F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"31e8da874a4e9b311cfa9fb2e4d94f3f61c6b8e2","datavalue":{"value":"containment control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2151946$A797F6EF-B297-4960-A560-B390B0192BB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cc8364d4806456487137b80761505aa7650f2d14","datavalue":{"value":"nonconvex constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q2151946$9149AAE4-F308-4356-8805-FF6F1522F5B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c4b3860726968a45d22b43024293dc75006708d4","datavalue":{"value":"switching graphs","type":"string"},"datatype":"string"},"type":"statement","id":"Q2151946$8E1652AD-FD02-4BF6-A5B5-FD787B2AC0EA","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":"Q2151946$97620C62-61C3-4FBB-AA54-5E8B14B8ACDF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"77236ce60367fe0ce1d723ddf5a3966966293ae7","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2022.110417","type":"string"},"datatype":"url"},"type":"statement","id":"Q2151946$8A5DB713-B875-439B-88E4-5602CB8DFD55","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"d8bc33da23bbdede0fd2f7e8b36f305d768a6152","datavalue":{"value":"W4281926434","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2151946$AD1F0E55-E83F-4C46-ACC4-47E893B89F0B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"aac021b7dd035303d0a38efd1604ef1e8feabdfa","datavalue":{"value":{"entity-type":"item","numeric-id":5347551,"id":"Q5347551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$3948A952-6AF2-4916-AB8D-7ADAAED086BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b6d27dacc5c86087ff2495c99b8279b01d00250f","datavalue":{"value":{"entity-type":"item","numeric-id":2716030,"id":"Q2716030"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$4316F505-EEF9-4A66-B455-ED760384116E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59266fe878dd4576b4386b85f2419f62bd3745f6","datavalue":{"value":{"entity-type":"item","numeric-id":4974333,"id":"Q4974333"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$0420C938-E4EB-4F7C-A698-EFA5C5F777FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"18347f70180820ab62868ec67b8189cf01a2efd0","datavalue":{"value":{"entity-type":"item","numeric-id":1647543,"id":"Q1647543"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$84DB61DA-47CC-4934-8325-64FB4B03D7EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0586c5ac1d969a1ce7c9f6dbfa3bbbf5dac510f6","datavalue":{"value":{"entity-type":"item","numeric-id":5352856,"id":"Q5352856"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$C2CC302A-739A-4D06-8C42-1E03EB327441","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1a6ef95a11a3fc895d5f90c15baf21041439a7d2","datavalue":{"value":{"entity-type":"item","numeric-id":2203451,"id":"Q2203451"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$F97CD513-2EAF-4A94-98D3-D61B97A3A7C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94af4bde662949a6c38f2f5c162cd7c4b9daa809","datavalue":{"value":{"entity-type":"item","numeric-id":4566925,"id":"Q4566925"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$DE02E273-FB0C-4503-BC5C-41DAB5DB86EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"41bcea2dc3651489129f32be493ce5628bde0ab2","datavalue":{"value":{"entity-type":"item","numeric-id":4567180,"id":"Q4567180"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$FC16748B-C4BE-4504-A08D-0E1D05AE220B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"57a0c0140f5aff56bf799f17731f9daf01f4748e","datavalue":{"value":{"entity-type":"item","numeric-id":5211284,"id":"Q5211284"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$843B6FDD-AC53-4504-8CB5-5D30E7F984D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e02d91bcdc34d0dfdacbabae40bba3bb3d20c7b8","datavalue":{"value":{"entity-type":"item","numeric-id":5223768,"id":"Q5223768"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$64393CE7-9C28-41EB-9C95-8FEC09D23463","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a475de1c57190de8daa878c4372cce6a118961ff","datavalue":{"value":{"entity-type":"item","numeric-id":2184538,"id":"Q2184538"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$68D2F676-E30C-492E-8908-F8E5F7B8FFE2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cd5d8a11e858444da58257941435da313ebf40bb","datavalue":{"value":{"entity-type":"item","numeric-id":445983,"id":"Q445983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$C400AC6B-458C-47D5-AD19-2436C711740D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8affe0d96fe23064db565ea988b71aec9c61188b","datavalue":{"value":{"entity-type":"item","numeric-id":2454146,"id":"Q2454146"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$06529B9C-DBF9-4799-9C0B-A49FE055B0E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1b7f86ec94c530c5813ade07efbd3dbc58f1784e","datavalue":{"value":{"entity-type":"item","numeric-id":445904,"id":"Q445904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$3909B028-2BA6-4A0C-867D-262ED78614A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d2f3a6486351eb703e49c840523cbb31ac2e570e","datavalue":{"value":{"entity-type":"item","numeric-id":624961,"id":"Q624961"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$E35C97F9-D8D0-4EB2-91E6-69C3B37BDDCB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ddff271c289d3140f4126299be0353399d00a6f2","datavalue":{"value":{"entity-type":"item","numeric-id":4684058,"id":"Q4684058"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$C1D407F5-24EC-4B3D-B6AE-CE4C442F8382","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd09a6b91388490d9fee97f66961ba31b702e29b","datavalue":{"value":{"entity-type":"item","numeric-id":4978779,"id":"Q4978779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$27D136B4-7322-41E9-9B4B-C9BCE98455BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"81fc6c24fd66c3b708ca5697d5305a55ff23e6c4","datavalue":{"value":{"entity-type":"item","numeric-id":540200,"id":"Q540200"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$D92D9E11-4C0D-48FA-96E9-CEE56E2A16E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d8509df7342f2cbb9ee64cbbffe87d1ed534a41b","datavalue":{"value":{"entity-type":"item","numeric-id":2822250,"id":"Q2822250"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$DFA29A8C-EF58-4736-92A7-DB8D5E896853","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cb26a07d48c9d1cfed534fa7dd97478bb63e39f3","datavalue":{"value":{"entity-type":"item","numeric-id":5352738,"id":"Q5352738"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$91A1821D-9F6E-4E99-9475-DDB7502E9AD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d2b626e5fb9f204b9b01b955448a6a8782168c7","datavalue":{"value":{"entity-type":"item","numeric-id":2835514,"id":"Q2835514"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$54595BEB-402F-48DA-BA9F-934C0EB9DE6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cbfb5991c8dab86cd48980f8e2581a5892d3fb01","datavalue":{"value":{"entity-type":"item","numeric-id":1660582,"id":"Q1660582"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2151946$1631E756-16E4-45A9-85A4-F0405277F1A8","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"51578b90aab9525095920510bb8748d2c94eb96f","datavalue":{"value":"10.1016/J.AUTOMATICA.2022.110417","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2151946$70A7A1F0-A302-493A-BE99-E39B33A6FC00","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"07695b8abc91bd618a07b241b1ed5407fbf667ec","datavalue":{"value":{"entity-type":"item","numeric-id":2244151,"id":"Q2244151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"550d963bc2abebc3f9c5823d3e56e0848471fbda","datavalue":{"value":{"amount":"+0.8620821237564087","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":"Q2151946$3014A30A-A404-460C-BDA9-4DCEF46F328F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ef4c4aa4686b78bffa984b8f28998abad79a6842","datavalue":{"value":{"entity-type":"item","numeric-id":2203451,"id":"Q2203451"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3440e3a4675f8bfe4ed5bb0401b9ed291cc094b5","datavalue":{"value":{"amount":"+0.8287087678909302","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":"Q2151946$2E7D61CC-89B7-4AD3-B8D0-204C7C62710D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06e622d233a3e51d1ec5a4183363fb6967ff48da","datavalue":{"value":{"entity-type":"item","numeric-id":4989971,"id":"Q4989971"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"849cad9c92677d068f47579b3fc634c5821ca1de","datavalue":{"value":{"amount":"+0.8121868371963501","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":"Q2151946$5EC22FB6-0FCE-4FB4-86CE-0D0D4F4C508C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a0aad8ad8f397ecc561b81d9ebbbbaa31a8fa600","datavalue":{"value":{"entity-type":"item","numeric-id":4684058,"id":"Q4684058"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bc1bb4ba8dfe65750347d325311726a33223bf96","datavalue":{"value":{"amount":"+0.7996675372123718","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":"Q2151946$51CF0FD8-6766-4762-B3B8-8A83B02729AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e1efaaf6b1aec587ac0298106ad80913a4374cda","datavalue":{"value":{"entity-type":"item","numeric-id":2184538,"id":"Q2184538"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"69a773525b752c7c69fd2a22224f0ad5482bb4ed","datavalue":{"value":{"amount":"+0.7969434261322021","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":"Q2151946$37C3B43C-89B5-4FFD-9ABB-56D87566B787","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Containment control with input and velocity constraints","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Containment_control_with_input_and_velocity_constraints"}}}}}