{"entities":{"Q2334158":{"pageid":2344901,"ns":120,"title":"Item:Q2334158","lastrevid":53585486,"modified":"2026-01-25T09:24:31Z","type":"item","id":"Q2334158","labels":{"en":{"language":"en","value":"Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7127404"}},"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":"Q2334158$BA6858B1-A901-44E4-B979-C793EE910104","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"06377bbff90256417961bbc2b4b84812689088fe","datavalue":{"value":{"text":"Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2334158$33345467-5C99-4D79-9FBD-75A3790EC5E3","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"6714ae8b11ba43fc81341639ea05469055f44f6d","datavalue":{"value":"1423.93273","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$94E5CAB0-BF1F-4F19-8732-A31CF8388752","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":"Q2334158$10629F26-1648-43C9-9CB4-5A353469C11A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0a91f08461f9e646364fadcbd4312240acf11d5b","datavalue":{"value":{"time":"+2019-11-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2334158$1B062525-34B6-42F4-BFC2-F7804A3F4CA3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$62C22CC2-9BCC-4B1F-BBB6-7818E8844FA9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$C6CC5516-FB0E-4EAE-AA0A-B1CB93108585","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b1a9a20c16e14977aabce86aca077afc2aca3644","datavalue":{"value":"93E03","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$B292B348-FE64-41B7-85F8-91138EFEEA2F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"24e3d2c9cfdbd3a925121a7b2de51be6f0d03456","datavalue":{"value":"7127404","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$62DC967B-AC33-4E9D-9440-F3EC435611D3","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1dd77212665db2f6d8538850c7e8738433a8aa28","datavalue":{"value":"state feedback trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q2334158$EC182945-C4BA-47E1-B835-54ECDCBD72B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c68b9e2c21c2bee277431ef10ba641e5f396a3a7","datavalue":{"value":"flexible joint manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q2334158$93EFC172-DA91-4F2F-B4A2-035887C3814F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"67443568fb2906b27eb4bd8268dc561732600477","datavalue":{"value":"random disturbances","type":"string"},"datatype":"string"},"type":"statement","id":"Q2334158$BE9F660B-CC86-4B39-9E92-BC003ECC0CA8","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"31ccb2903eebf51b468faaf85894e641440babf9","datavalue":{"value":{"entity-type":"item","numeric-id":458763,"id":"Q458763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$CEC6C4BE-E12B-4BE9-A065-11EB73FC7AE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"dc27bac17bc320a9979074a3401a11b01e9bdefe","datavalue":{"value":{"entity-type":"item","numeric-id":357552,"id":"Q357552"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$FB9B6856-A45C-4528-902F-E66087ED6746","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":"Q2334158$32BF7576-C2BA-4520-BD5D-B43887AACDCB","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"0eb87adc57757c4e09716604a4b1460eae6b61f2","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2019.08.038","type":"string"},"datatype":"url"},"type":"statement","id":"Q2334158$08F12CA4-29AA-484A-B0FB-255D2654F086","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"30bdfa80f1d963164e7c4a6fcf98cfeb01984d45","datavalue":{"value":"W2971700129","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$01B19AB4-7BCF-4520-A01C-73534FDAB7E8","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"25f57b39a56ea1ac27ba24709c00d069bb3e31cd","datavalue":{"value":{"entity-type":"item","numeric-id":3804564,"id":"Q3804564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$CD47921D-1709-4C9C-87B7-49803074BF2F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9964af50333d47b96da052337318bcfc921ab620","datavalue":{"value":{"entity-type":"item","numeric-id":1893024,"id":"Q1893024"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$F5507FAA-B3AA-449B-9F6E-C595B355BC36","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9f7c394e1d837b1d8dafc38893455a861a6e9d34","datavalue":{"value":{"entity-type":"item","numeric-id":1899568,"id":"Q1899568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$27450A9C-3C1B-4EC5-9F48-7867CBAC5111","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e515a5d2105bc09cdbf91b55c7b5865bb975ceae","datavalue":{"value":{"entity-type":"item","numeric-id":1343370,"id":"Q1343370"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$331026D4-F183-49BB-A2FF-4D9E89F9A199","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"05aade4da1864acfb90fd6834c1534584aa9909c","datavalue":{"value":{"entity-type":"item","numeric-id":437401,"id":"Q437401"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$AA97AED9-857F-4666-96F0-0AC40CC16676","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c5864b9c5483f335bea4f3685d146f89ea9c9684","datavalue":{"value":{"entity-type":"item","numeric-id":5745568,"id":"Q5745568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$9F3B561F-ACFB-4A05-AFB4-B3FE62672BEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0ed54f623dac9ad49c65ec886c0ac54c4014eaf9","datavalue":{"value":{"entity-type":"item","numeric-id":1926444,"id":"Q1926444"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$C6D320BE-0253-4AA4-BCAB-0E3CE6DC601F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"128a7b9a2b304d57cd721af08c86476652d2aaa4","datavalue":{"value":{"entity-type":"item","numeric-id":3883249,"id":"Q3883249"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$9E1B72C9-88D2-42A6-8E94-B1AB4AF45320","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ef4ae613a22f545e44927544b7be3c1120c5d23","datavalue":{"value":{"entity-type":"item","numeric-id":1391758,"id":"Q1391758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$5A41EF17-F78E-45A8-9A9A-941D45B277A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ce50c10228f6ffa66d2cb4f71243d769905a9029","datavalue":{"value":{"entity-type":"item","numeric-id":5967093,"id":"Q5967093"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$5A8B450B-F2E4-44A6-8FC4-2FA1368F1A72","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"33cb14163ff83c4e38300d21f6df6ede6969b85b","datavalue":{"value":{"entity-type":"item","numeric-id":4369402,"id":"Q4369402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$7887D0B6-DFCE-4662-A7C9-B9D7F3D75216","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"14e31bf3a04acb4495c5a52b705d93a13963453e","datavalue":{"value":{"entity-type":"item","numeric-id":2903511,"id":"Q2903511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$2F72BEF5-56DB-4ECB-8CD1-0B457E48450C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"04c2babd65bfd698ad66f9962790bdb4344745ee","datavalue":{"value":{"entity-type":"item","numeric-id":357554,"id":"Q357554"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$258D91F9-F584-4C15-AB39-ED7068458500","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"887f78e931e8bab492553fe01cce650972b96c63","datavalue":{"value":{"entity-type":"item","numeric-id":5353241,"id":"Q5353241"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$8710D65E-972D-4E59-BA29-5BC28C3598F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3b3ea7930217cb702a38915bf73133f701b5b7ff","datavalue":{"value":{"entity-type":"item","numeric-id":458764,"id":"Q458764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$F7581B6F-AFA3-4687-AF0A-A43547E44942","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b7b411862f0b5a51f9a64b84bd9d5faf229599a5","datavalue":{"value":{"entity-type":"item","numeric-id":2982773,"id":"Q2982773"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$CA07D3C6-27B9-48CB-8DC5-24BEA2250555","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"02b2f8b5805dacb47869b26cb20070049bd22081","datavalue":{"value":{"entity-type":"item","numeric-id":509506,"id":"Q509506"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$80B42ABA-0CB5-4A95-B046-A934DAC7BE28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cd242e71bed1d2f690e405a322af04121677252f","datavalue":{"value":{"entity-type":"item","numeric-id":1992705,"id":"Q1992705"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$969C0332-00AA-4AD5-9ACB-CD73CD56EA6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e9c9dd31d32541260349c67f62e3a16ad08bbb7","datavalue":{"value":{"entity-type":"item","numeric-id":4853265,"id":"Q4853265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$83932DA9-9641-4B6D-A56A-EDAFFD320312","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d60197adaef23685c9d89e4701b1e4ab33e18e5b","datavalue":{"value":{"entity-type":"item","numeric-id":2785490,"id":"Q2785490"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$CDEB0539-D7B7-4A95-9B19-F092C8179A0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e4027989c71c52501d82b5b21b7364318ef32e23","datavalue":{"value":{"entity-type":"item","numeric-id":2280782,"id":"Q2280782"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$878F03EC-DE5B-4EE0-8280-0565F88420E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"62fe5e26947901d20fa4a9d71e31e0fd60279c55","datavalue":{"value":{"entity-type":"item","numeric-id":2409271,"id":"Q2409271"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$41A9BF7F-7AFD-4CD8-A7DF-0FFD2E8DF0E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2e30e22d42204d75995916f847534f453054868","datavalue":{"value":{"entity-type":"item","numeric-id":2407173,"id":"Q2407173"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$5B330116-F185-4513-8D01-DBC900FC4547","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f4746d257bbe898d59ec70ddc3bfdf0be63d64ea","datavalue":{"value":{"entity-type":"item","numeric-id":290880,"id":"Q290880"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2334158$669427F9-8F4B-48A2-A8FE-A8D551E5165A","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"caf5b5ffc2eb94951a0222ecd038571de6585a7b","datavalue":{"value":"Q127301427","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$94E1F473-83F2-4879-822D-1F02DCB2AC60","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"4ae0427214d422521e6edc745edc5cbacf283679","datavalue":{"value":"10.1016/J.JFRANKLIN.2019.08.038","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2334158$DB3998A7-0B5D-4BDF-A212-C677BBC222C4","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"09e3f3e278b9b9aa68b6c98abde249572e932616","datavalue":{"value":{"entity-type":"item","numeric-id":2938625,"id":"Q2938625"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bad416b3cc0aaeaaeb30be1ff50f8fc24983cddd","datavalue":{"value":{"amount":"+0.8587515950202942","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":"Q2334158$684B1C79-3E2B-4C30-BFF7-2C1525C03C1A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4d948351de091dd3086602e03634f16a365ad611","datavalue":{"value":{"entity-type":"item","numeric-id":4307434,"id":"Q4307434"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"51d2d7a6b8f800187e4e081cb40667ea5aa1000f","datavalue":{"value":{"amount":"+0.7848868370056152","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":"Q2334158$4C66F2F4-47C9-42A0-A5C3-F03116A5E81F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cad3fa9e9a8a2dc78ccaae5ba59acbea142fd0c3","datavalue":{"value":{"entity-type":"item","numeric-id":4894654,"id":"Q4894654"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9f76b3b3b5787c87cc48b2daa866887a4fbd117e","datavalue":{"value":{"amount":"+0.7812559008598328","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2334158$D4D0BED0-E16E-4443-BE3E-AB83E3ECE31C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c92eb61fc15d19d8a421e0ffb763520f3a7b4c98","datavalue":{"value":{"entity-type":"item","numeric-id":4890789,"id":"Q4890789"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0cf4b6de16dce3ba1e5a2fd1f927822fcd0112f0","datavalue":{"value":{"amount":"+0.7668641805648804","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":"Q2334158$A56CF095-3E51-410F-8721-6AA2D79E9201","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"60676ff02a5666e0dbb7f273a99e714f46933781","datavalue":{"value":{"entity-type":"item","numeric-id":4847426,"id":"Q4847426"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0cf4b6de16dce3ba1e5a2fd1f927822fcd0112f0","datavalue":{"value":{"amount":"+0.7668641805648804","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2334158$BA0054B9-06B6-44A7-84FF-C040533E0F70","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2334158","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2334158"}}}}}