{"entities":{"Q2684644":{"pageid":2695387,"ns":120,"title":"Item:Q2684644","lastrevid":47814673,"modified":"2026-01-02T18:43:32Z","type":"item","id":"Q2684644","labels":{"en":{"language":"en","value":"Robust fixed-time cooperative control strategy design for nonlinear multiple-master/multiple-slave teleoperation system"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7654649"}},"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":"Q2684644$1D5AB1D0-90B4-4ECE-BBCA-A54FEB3A89A0","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9c6fc17df306f6dfa071d3d08822796dd96c0852","datavalue":{"value":{"text":"Robust fixed-time cooperative control strategy design for nonlinear multiple-master/multiple-slave teleoperation system","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2684644$DB847D57-9EA6-485C-9904-951AE10B9F55","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2d44663194f83e7a4992949bceb4dba5ac645790","datavalue":{"value":{"entity-type":"item","numeric-id":326159,"id":"Q326159"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$EE3372B3-7250-47BC-9E52-ABC8DF5BE388","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a13cd64acd18dfbeec78bf02edb8aea4e6ff3ed9","datavalue":{"value":{"entity-type":"item","numeric-id":2684643,"id":"Q2684643"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$81C9FA5F-4F28-4555-8776-E9EE16ACCAA0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"199a7d739a6f1a10ece22c3c472ad4f4a7261b9a","datavalue":{"value":{"entity-type":"item","numeric-id":470793,"id":"Q470793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$E91DE765-87EB-42C4-9168-6DB5DECE666D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"162bfcd676f5590f5e98e61144618fc922fca203","datavalue":{"value":{"entity-type":"item","numeric-id":273883,"id":"Q273883"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$3C9E009F-726B-4CD2-B759-5E47AF564171","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":"Q2684644$581802A8-DEA9-41E9-9CBE-3C4FB306CEE9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"396d6589ca4ee5b017db072a4b7a874460ed3465","datavalue":{"value":{"time":"+2023-02-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2684644$7FE556B5-B7A7-4356-96A5-84CF3BE44279","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c40b5d207b98d7119d9e445937aa745edafa81c3","datavalue":{"value":"93D40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2684644$3C6C0C29-5861-429F-BEA8-75BE8784E82B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2684644$70C19153-EF71-43C5-9FC3-D732F66F2546","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"923c8bef102bb6ebd35f125cc10b56d21864b3aa","datavalue":{"value":"93B53","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2684644$39913C0D-3723-49E1-BC26-88B7EBF77705","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a1bdbc1c3638e1633b66fc50b3ed3a56cdfd3c26","datavalue":{"value":"7654649","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2684644$ECA31E42-35BC-4E36-9346-CDDB6B0A13E5","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3290f3c6d93b94416763104e79613b15a8b2da32","datavalue":{"value":"fixed-time cooperative control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2684644$D1E97128-3883-43B3-8E5F-1B39006A7CC6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ee4cf4df7bf16065884eb973413fe6103c2d1458","datavalue":{"value":"multiple-master/multiple-slave teleoperation systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2684644$A17726E3-DA45-4A01-9525-3268202310E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"221de2ea16e560fc5c4d71d4d338c5bd8c895301","datavalue":{"value":"fixed-time disturbance observers","type":"string"},"datatype":"string"},"type":"statement","id":"Q2684644$3D4636C5-098C-4815-B1D5-E965CC74334F","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$ABB04610-FE68-448E-8D2F-E457F9985B12","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"1d92c3fd7bd6c21a4558dd488c9dfe0b8e9fd8b4","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2022.10.006","type":"string"},"datatype":"url"},"type":"statement","id":"Q2684644$4947EC6E-D305-402D-A75E-CCC03BDC6EFB","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"151cf5f39cd290472bc8c35b54428bbbd3bff29a","datavalue":{"value":"W4306742859","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2684644$C2B9C7DC-23B8-45F7-B33A-3B618BD39427","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5340a8bfb0db500551285bbb9c2e7b08321708c7","datavalue":{"value":{"entity-type":"item","numeric-id":858935,"id":"Q858935"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$7E34DC52-AABD-4933-B5B0-C53594E9C1A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7696fc2f4616d63ab1a15a9e511641068834a0f0","datavalue":{"value":{"entity-type":"item","numeric-id":1660435,"id":"Q1660435"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$83EA22B3-7833-4BCD-AA2F-672940B8D929","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f0cd5c67518e5bed54f16077f7228032c949d71a","datavalue":{"value":{"entity-type":"item","numeric-id":3187897,"id":"Q3187897"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$16E9ADAB-88BF-4B6E-8E28-940DCF82AEB5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"456cba106764aaa05396536d6d181b7e81124e1d","datavalue":{"value":{"entity-type":"item","numeric-id":4943739,"id":"Q4943739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$D6D0D845-5DA7-44D1-B778-2CAF6C3D3040","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"436702a07c5a494e154ee2774ba0139a89c3c2ac","datavalue":{"value":{"entity-type":"item","numeric-id":855461,"id":"Q855461"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$E58B6A88-AB9F-428F-BEB6-15F6440099E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"75a9e68a711d9b8c8690fa16a127f2323a3d7ab7","datavalue":{"value":{"entity-type":"item","numeric-id":4160779,"id":"Q4160779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$4CB4D5E7-07BF-4C40-8B5C-3E5523049F12","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6747f8aa0189a9ec971ea5ce57c05af082c7a7fb","datavalue":{"value":{"entity-type":"item","numeric-id":4282350,"id":"Q4282350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$F99CEAC1-DFE4-4551-8B69-86A9128BF618","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bf5db6140478e4d723a1724f9729b390cd3c10d7","datavalue":{"value":{"entity-type":"item","numeric-id":1626956,"id":"Q1626956"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$6A6541B9-730C-4A40-98C2-40572BABBB48","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"de70df496b3375eeef40446c8bdd05d4e166ed01","datavalue":{"value":{"entity-type":"item","numeric-id":1858357,"id":"Q1858357"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$3DAE39CD-9CFD-4CA1-B8DE-24317B6CE2A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59ef372cb2b80b1bb7fa0bd3d122b4072f664b1a","datavalue":{"value":{"entity-type":"item","numeric-id":2573940,"id":"Q2573940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$E3439D01-3ACA-4CD1-AB7A-F9CEB95EE5AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b02081d7e6bf3253e9423a162bdae5363a19e659","datavalue":{"value":{"entity-type":"item","numeric-id":717962,"id":"Q717962"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$2E660A72-6BE1-49B0-86A1-F94A3F25F9E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a4dfef351e59ba5e15ec4f9bc42b05e76b0d313a","datavalue":{"value":{"entity-type":"item","numeric-id":2350840,"id":"Q2350840"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$D39FAA08-E6E6-4FD1-8584-6501D42610BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"960753bfbced2a95570e3e096572cd4d3a17bbe8","datavalue":{"value":{"entity-type":"item","numeric-id":463906,"id":"Q463906"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$3CE8884E-D6CF-4979-BA35-624D42310A69","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0514f122b0e95df6c1d7a59f64c821889aa4a536","datavalue":{"value":{"entity-type":"item","numeric-id":522811,"id":"Q522811"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$BCEC97EF-5FF8-4679-B9E8-48AB66FC89DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b05b386be00b8614efe13d4d314ef6053cd6c94","datavalue":{"value":{"entity-type":"item","numeric-id":5352922,"id":"Q5352922"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$216D3779-55F2-471C-A334-0DC5A90071FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f453e1eb3bcc4ea3fd105542e36c0685d06e392f","datavalue":{"value":{"entity-type":"item","numeric-id":5379852,"id":"Q5379852"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$619AC391-7E23-4CA5-843D-9996CADFCA7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8abb9d106501a96da336283acb10fa46a48500e6","datavalue":{"value":{"entity-type":"item","numeric-id":2185702,"id":"Q2185702"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$FBEA724A-EC18-48C9-902E-2776E4D01308","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2f7c582ec17da63709ae590f2ab48868ce6b1d0d","datavalue":{"value":{"entity-type":"item","numeric-id":2181045,"id":"Q2181045"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$297A84E9-1DFD-41A6-97CF-E8020DB47A48","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1154fc0b662a7e058ea4aeaa1c69d58cc206ef24","datavalue":{"value":{"entity-type":"item","numeric-id":2410724,"id":"Q2410724"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$258CBC27-91EE-4198-880C-22645A2325EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"39c0fc6322d80af0d5501f0ed216988f173bfad7","datavalue":{"value":{"entity-type":"item","numeric-id":2224771,"id":"Q2224771"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$455D326A-673C-4CCC-8E3D-1349DF320A39","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"aaa1c1bfcb36af0f372b67a4437ca178fa5315c3","datavalue":{"value":{"entity-type":"item","numeric-id":4644848,"id":"Q4644848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$269B1317-9077-4180-A0F5-A4AAC4F704A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1906783bae4e69d8be3f2f1dc0601f66522ecb0c","datavalue":{"value":{"entity-type":"item","numeric-id":341660,"id":"Q341660"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$87BFF51E-A03A-4308-B559-FA1F61920208","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"205676cf3911a795833bb1c35d7066522df006a7","datavalue":{"value":{"entity-type":"item","numeric-id":2982911,"id":"Q2982911"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$D95FBBC2-C2D3-47F3-9B71-E56EB8AC32E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fe5d149ed5b155bcecfdb623b4c37c2e263782ad","datavalue":{"value":{"entity-type":"item","numeric-id":2641762,"id":"Q2641762"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$FFE3B0FA-6395-4E8A-88A8-3BA4901DA871","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b1ec01ecfd6425a5a23a6769e16f99f60228c81","datavalue":{"value":{"entity-type":"item","numeric-id":5034105,"id":"Q5034105"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2684644$174D96C8-682D-4A9D-84FB-F57F4B5A0C71","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"d1f1db7cc455f0c56141cfce771ce62e3a2d9e9e","datavalue":{"value":"10.1016/J.JFRANKLIN.2022.10.006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2684644$13468E64-5CB8-4C41-8095-FF0F29EAE255","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2464cb8105264e5ddce507fa740b3c2e9045977a","datavalue":{"value":{"entity-type":"item","numeric-id":4644848,"id":"Q4644848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2d9133b824fd75111ef21be4bc4030033f5d04fd","datavalue":{"value":{"amount":"+0.8284103870391846","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":"Q2684644$2F59536D-12EE-4F8A-AAD9-3B87FBF2EF95","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b7594ad4f49dcb26c6defd900003baacf01ea0ba","datavalue":{"value":{"entity-type":"item","numeric-id":3187897,"id":"Q3187897"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"64a0ba7d205f8b6d30aa57186dd436c0d2267438","datavalue":{"value":{"amount":"+0.779921293258667","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2684644$E57E1DB6-075E-4F18-BB78-028E31B89E00","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3a70f58f5c0a5db5f0af75cb27a6977fc564da48","datavalue":{"value":{"entity-type":"item","numeric-id":5270468,"id":"Q5270468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"817317a37282e8707c5bfe2dbc41e398599d9865","datavalue":{"value":{"amount":"+0.7494891881942749","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":"Q2684644$1C0BA9BC-0090-4BB7-9722-ED4F50B42B0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"46dba01123f9e10d43077f201ae9e37af1fa2301","datavalue":{"value":{"entity-type":"item","numeric-id":2109145,"id":"Q2109145"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c610e272dd32ccbc096bb5b7789818910ffa82ba","datavalue":{"value":{"amount":"+0.7478309869766235","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":"Q2684644$817C3F10-7854-4D80-8A54-5649FED1C43B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c3a7d2dcecb3848604386cecc81778b36b114a7b","datavalue":{"value":{"entity-type":"item","numeric-id":2205516,"id":"Q2205516"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"81521a1f8915dd29fa658d4d7045bc8a5967baaa","datavalue":{"value":{"amount":"+0.7436072826385498","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":"Q2684644$4FAA92E6-1F1A-4275-8F00-78E5040C15E8","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2684644","badges":[]}}}}}