{"entities":{"Q4629439":{"pageid":6659021,"ns":120,"title":"Item:Q4629439","lastrevid":90580721,"modified":"2026-06-04T20:45:07Z","type":"item","id":"Q4629439","labels":{"en":{"language":"en","value":"Practical adaptive fractional-order nonsingular terminal sliding mode control for a cable-driven manipulator"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7043074"}},"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":"Q4629439$6E8ED97D-DAF3-4F7F-9841-7C8E065120A7","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9b0e29222cb348e4f13a411eeff1d2054a0c2af7","datavalue":{"value":{"text":"Practical adaptive fractional\u2010order nonsingular terminal sliding mode control for a cable\u2010driven manipulator","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4629439$A21956ED-B013-42AC-9CEF-0B7C1F151D37","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"64184dd1298cca4e7e12e2c0d3416cbd0d394717","datavalue":{"value":"1410.93032","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$1E2CD065-2394-4A11-8753-4D9CCC06E976","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3893d344fef3f8952c74e3ea04280fdd58466435","datavalue":{"value":{"entity-type":"item","numeric-id":1720442,"id":"Q1720442"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4629439$6D803249-A270-4DF9-9AFB-39D03CA7F4A2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b6c4a469f48c3334c9fcfda50cbbe5c3c13b27ec","datavalue":{"value":{"entity-type":"item","numeric-id":2108437,"id":"Q2108437"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4629439$772D5D28-E0B2-4F7D-AE81-C89528C9D273","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c8c959f7514f013dc140e6bbb856fbcbcaae0317","datavalue":{"value":{"entity-type":"item","numeric-id":265330,"id":"Q265330"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4629439$7F35894B-B153-4645-90FB-09CE4A5FF419","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"72105019ebc097e45029cdc73d4cf80c62a17b33","datavalue":{"value":{"entity-type":"item","numeric-id":892524,"id":"Q892524"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4629439$C1F9CDE1-EBD7-41B7-A683-A7BA401627A6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4629439$1C57E4BF-B0CD-464F-9DAE-8A22AB6ABC5B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d06bbe883443d922d03e742956c1e568349f86c8","datavalue":{"value":{"time":"+2019-03-27T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4629439$623CD5BA-4961-4994-80FF-7F90055EB95C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$33B99002-28EE-41DB-9281-018965659990","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$5C462939-B9B5-4138-98F9-7E1BE27B6F82","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$983E8407-E413-481D-B197-E8B9B90F102F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$EA478D31-4987-460C-A504-8225C32E9F5F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4c6e7ee59fd102cfb2abef149f03d9c2bd992b7c","datavalue":{"value":"7043074","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$F263F7AC-C051-4133-8DA6-6F8A4B654DB9","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b253d7d94b74404330dfb928accbc7530cbafcd3","datavalue":{"value":"adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q4629439$2D96FB6A-B9A2-4A48-BD2F-68A5EFB369D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0004bf541d22db0c1f565496dae8143940c5c817","datavalue":{"value":"cable-driven manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q4629439$C8712704-98DC-438E-B5A3-D03D0A6F1F32","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"621ce7d599da0651a40ae9268d121777ab5f1bca","datavalue":{"value":"fractional-order","type":"string"},"datatype":"string"},"type":"statement","id":"Q4629439$C3FDB661-2553-4F57-82DE-F5C7AD8784FB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ba62d83478436cb113e02084cedcb3bebccb4d7f","datavalue":{"value":"nonsingular terminal sliding mode (NTSM)","type":"string"},"datatype":"string"},"type":"statement","id":"Q4629439$79846DEA-B9D6-4248-A158-57160F6968C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3ef5c4f202885b9eebc04fff9b188678ea19dc87","datavalue":{"value":"time delay estimation (TDE)","type":"string"},"datatype":"string"},"type":"statement","id":"Q4629439$7289738E-A197-4361-9B8E-A0726F55FEB9","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":"Q4629439$36CF815C-ABF0-4441-9D5D-DE2EAC508AEA","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"178db41786c2488f91930a881888f70932c02e72","datavalue":{"value":"https://doi.org/10.1002/rnc.4441","type":"string"},"datatype":"url"},"type":"statement","id":"Q4629439$7FB422D2-DFE6-483F-9011-28DAF1BF585A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"874d897ebf46561208bad353498742fb73bf0013","datavalue":{"value":"W2905084567","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$86D971EE-8795-4F16-8385-0EAB434F3B11","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"a6b3e1289569e16568cc8fb74d31435293d658d0","datavalue":{"value":"Q128745486","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$5E2D6503-9543-49FE-95AE-EF75A97B20E7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"963a1aed8248cdca80aa226cb583a161d1967c26","datavalue":{"value":"10.1002/RNC.4441","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4629439$1DEFC579-AF54-4A1D-ACB0-DA383C3F7A9D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d09cbaf8c93a5684957fd0f74bf1eb0047b16e34","datavalue":{"value":{"entity-type":"item","numeric-id":5026607,"id":"Q5026607"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d193c13dd8950568ba81fa8fd031efcbb940761b","datavalue":{"value":{"amount":"+0.894191324710846","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":"Q4629439$310356A1-F2EC-4A8F-A284-94BF7A041009","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5bc3af79a258b3a92a3b2189fd12727a6520bead","datavalue":{"value":{"entity-type":"item","numeric-id":5026716,"id":"Q5026716"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"92743617d5d883896d43aaec61f696316c81ee1e","datavalue":{"value":{"amount":"+0.8843444585800171","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":"Q4629439$29FDB5B6-6B42-409A-BC93-0C5A99CA106A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7a5bae598d1c643ed4c8c22f2f652f5c04a853e2","datavalue":{"value":{"entity-type":"item","numeric-id":5241688,"id":"Q5241688"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c4236e6a5c80613094585af20248c77566b51e5e","datavalue":{"value":{"amount":"+0.8670316934585571","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":"Q4629439$2CDA1F92-829F-42B3-A338-B29C94602E3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"578aa30ae7dc44e0ac5440f5312cd71eabebdf0d","datavalue":{"value":{"entity-type":"item","numeric-id":4967660,"id":"Q4967660"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"80bbf9e457f212b43a9eb46c802e13a1283434c3","datavalue":{"value":{"amount":"+0.7690157294273376","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":"Q4629439$056849EE-4A8D-4522-BF52-5C17E9712DC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"54e2141e139207b5509ddbf0ebeb88b101618879","datavalue":{"value":{"entity-type":"item","numeric-id":6484462,"id":"Q6484462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1c85101b8adccd018af3e463dcc92785bade39d4","datavalue":{"value":{"amount":"+0.7658421993255615","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":"Q4629439$72A04C47-2DE8-4644-A3B4-B01B2F082FC9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Practical adaptive fractional-order nonsingular terminal sliding mode control for a cable-driven manipulator","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Practical_adaptive_fractional-order_nonsingular_terminal_sliding_mode_control_for_a_cable-driven_manipulator"}}}}}