{"entities":{"Q3193504":{"pageid":3204212,"ns":120,"title":"Item:Q3193504","lastrevid":80043965,"modified":"2026-05-06T15:18:43Z","type":"item","id":"Q3193504","labels":{"en":{"language":"en","value":"Nonsmooth PD-like finite time steering control for autonomous underwater vehicles"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6500406"}},"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":"Q3193504$61E215CB-2EE3-4442-937D-671FDC09FAFD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"335d851f14b249a30587badbd4ea22f2ba13062d","datavalue":{"value":"1340.93157","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3193504$74455B31-BA4E-4B2A-831E-775ACD5C90E2","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"729966d003670274190a889078186f2590ad72a5","datavalue":{"value":{"entity-type":"item","numeric-id":498072,"id":"Q498072"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3193504$60ECB0EA-F050-4712-AC20-311CA3F755CC","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"19d39e0f031dafeaa905907e1e92731e668fffa6","datavalue":{"value":{"time":"+2015-10-28T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3193504$50BE1BB8-F8F1-4412-9D9A-BEB1E3CECB30","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3193504$5DF3ABD9-ADFF-4CF6-ADD9-87771F1C9F0F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"cda039453f35395c3231b74a5eabbf4ec89e643a","datavalue":{"value":"93D21","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3193504$1115EDCE-FE0B-4A5F-B9C0-901DAA40B780","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3193504$C27596D1-9D9F-4381-8A27-51087E04C57F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"bd6e6d2f31ed3428006b70a8f2821ccb5340042c","datavalue":{"value":"6500406","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3193504$2F1741AF-82A4-4FAC-9C14-B555E7893843","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"12784d21e129f563149239cd83a835bc1b458510","datavalue":{"value":"autonomous underwater vehicles","type":"string"},"datatype":"string"},"type":"statement","id":"Q3193504$864BAE87-06CC-43CD-ADC5-9A6F8D415C9B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe81dfc4a7cd06230e71699c8ba085b8e015d5e5","datavalue":{"value":"steering control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3193504$03AC4460-0139-4EC8-AF30-7966D74394DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4d16cc0c7eb0e7f58587210fee2c15a0adc50296","datavalue":{"value":"PD-like finite time control","type":"string"},"datatype":"string"},"type":"statement","id":"Q3193504$38912708-2CED-4A70-813C-A98AA5E4E6ED","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3193504$F00C010F-4808-4325-B2C3-1C38396BA61F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f782f6207a129e050b363b4aec0ce91b7f38e096","datavalue":{"value":{"entity-type":"item","numeric-id":5069017,"id":"Q5069017"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe677fa9ab69f39b5dfd85aa69807e203e723468","datavalue":{"value":{"amount":"+0.8123173117637634","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":"Q3193504$6536BEF9-7A5B-4A99-AFCD-111F66FF0CF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"df0eb1291ebb3fb6c1fc6c46721fe8f1bc1fd43e","datavalue":{"value":{"entity-type":"item","numeric-id":1637237,"id":"Q1637237"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"61ac710adb13b0ae6db55f1ba10e2712e50576cb","datavalue":{"value":{"amount":"+0.8071718215942383","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":"Q3193504$71DA9301-C1A9-4D72-8283-414960C1CD28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"32eb1de7c7ad3bd9851ed562867551e36d7032d7","datavalue":{"value":{"entity-type":"item","numeric-id":2638343,"id":"Q2638343"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d690d63abed72934193e2a8cbf0abaa05b53d2bf","datavalue":{"value":{"amount":"+0.7723877429962158","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3193504$E973C134-E060-4C8C-BCBD-5ACDC5F7817E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ea53728e69a206c61653c2c807aa5b491c30229b","datavalue":{"value":{"entity-type":"item","numeric-id":718799,"id":"Q718799"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fc8117f353afed4709e6b0b76c437a81ca5703da","datavalue":{"value":{"amount":"+0.7662741541862488","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":"Q3193504$96033563-DF1E-4D7A-AB3C-6FDC087D0199","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"21349ac624429ccf14c2ae9bdec02b922f58a714","datavalue":{"value":{"entity-type":"item","numeric-id":1793696,"id":"Q1793696"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1e995cfb4113b8afa169a0afdf4729de3dd56533","datavalue":{"value":{"amount":"+0.7541374564170837","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3193504$C632B305-41FA-406F-9B63-3B1C0CF87B99","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Nonsmooth PD-like finite time steering control for autonomous underwater vehicles","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Nonsmooth_PD-like_finite_time_steering_control_for_autonomous_underwater_vehicles"}}}}}