{"entities":{"Q4644087":{"pageid":6673668,"ns":120,"title":"Item:Q4644087","lastrevid":41636940,"modified":"2025-05-06T15:57:58Z","type":"item","id":"Q4644087","labels":{"en":{"language":"en","value":"Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L<sub>2</sub>\u2010Gain Approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6876384"}},"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":"Q4644087$6827C4E5-9613-4CC5-A50E-48A938411BEC","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d8969a4cc3ad5d1b65950fb288d0a2b838a6e62a","datavalue":{"value":{"text":"Backstepping Control for Flexible Joint with Friction Using Wavelet Neural Networks and L<sub>2</sub>\u2010Gain Approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4644087$95713426-300D-4892-87C7-5E396A712512","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e1d97c670d8f50db2207193bf1bb21e7aa6ce521","datavalue":{"value":"1390.93317","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$59138CFA-4829-425F-8983-110CDCC0953E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"9aea755e0a4f21a27da144c2f895955ae9955a8e","datavalue":{"value":{"entity-type":"item","numeric-id":1342515,"id":"Q1342515"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4644087$242EEFBC-BFC9-45A3-AF98-DC8A76A1B140","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ca9715dc7d6e42bf9670774eff8bf64243684b24","datavalue":{"value":{"entity-type":"item","numeric-id":1667005,"id":"Q1667005"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4644087$186D11B7-1B3D-47F9-BE73-966FD40FD298","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c328fbecc1123471baf4a91ed1c029db21dc0554","datavalue":{"value":{"entity-type":"item","numeric-id":1667006,"id":"Q1667006"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4644087$47B3FA0F-5815-4CF8-89EE-1E12C67DADFA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"4a339d38578f9ea3c4a810c6814ca082b0d20b6d","datavalue":{"value":{"entity-type":"item","numeric-id":2789888,"id":"Q2789888"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4644087$5E264893-3E2A-40B9-B911-9FD7D924749A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"3c7837145f292fc799024546d5357bc1d83f0818","datavalue":{"value":{"time":"+2018-05-30T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4644087$8D7BC088-537C-4E30-BB5F-185BAD7D07BE","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$BE071D02-798D-4B97-952B-E5D51FCBC1CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$ACBF7F6A-B287-480C-9B6E-5BB6D5EC4F40","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"4475bb18dcf8fe4d3323e29b22648a2bd590665f","datavalue":{"value":"74M10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$5A861D7B-2B43-4FD1-8F5B-8FCE1EAD485C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"998e2315eb586146fa99a11c3609a6857593a7bd","datavalue":{"value":"92B20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$FD7C9279-ACFE-490B-8D69-13A5524F5662","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"c64b65c733fd4fe6672f9ba784214c6b4980818f","datavalue":{"value":"6876384","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$8196CD34-2735-4DBF-BFDB-538EA58CBA07","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6056def6a9360b98fbc6634f0199737e76d2bd89","datavalue":{"value":"backstepping design technique","type":"string"},"datatype":"string"},"type":"statement","id":"Q4644087$F269760B-B18D-4A05-AB08-47840AF33F70","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e6c5947b3b7d484222398e250a690a25ba5cc438","datavalue":{"value":"flexible joint","type":"string"},"datatype":"string"},"type":"statement","id":"Q4644087$70D4916F-D458-40F0-9D65-148346632B8E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b0ef4735d52d683465262b192e3b1e464e90d164","datavalue":{"value":"friction compensation","type":"string"},"datatype":"string"},"type":"statement","id":"Q4644087$93808526-657B-4924-91E7-A760536457A2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"baf18741024904398cf5dc214411911e58cf408d","datavalue":{"value":"wavelet neural networks","type":"string"},"datatype":"string"},"type":"statement","id":"Q4644087$89FF5DDC-4197-4C2D-B4EB-BF3D7B2BA8E3","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":"Q4644087$771CF1B0-6A9E-496D-B788-B0A7F0D881AF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"8d3efe834ed50e92bc5ffefca91dea6dc8041026","datavalue":{"value":"https://doi.org/10.1002/asjc.1602","type":"string"},"datatype":"url"},"type":"statement","id":"Q4644087$2002809F-A915-4B70-B9BB-E09A4EFE7C3A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"7c4da8c9746c8439262341ac7bc71fd36b3b03a9","datavalue":{"value":"W2735263547","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$EAEAD773-7D61-4107-978C-2F519F424808","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b1aaa96405313738e96182519bdee3cd5eea7759","datavalue":{"value":"10.1002/ASJC.1602","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4644087$B4D65C5D-AB7C-40D7-A2FA-583C77B22AF8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"61454d92e927459612a5624e218db3a5b0ebe5b7","datavalue":{"value":{"entity-type":"item","numeric-id":2984715,"id":"Q2984715"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e5d18ea9086affea1bdde4d9132800dc36e1b075","datavalue":{"value":{"amount":"+0.89399666","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$C6E16423-D84B-471B-BE4C-C654C20C75F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a47a9d934f3fd4e31da3274df836a08beb4c5623","datavalue":{"value":{"entity-type":"item","numeric-id":2296226,"id":"Q2296226"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f5e522d4e5306e39d9361dacfe2a5a4d9f5071f9","datavalue":{"value":{"amount":"+0.88147545","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$3C98C6B7-3C73-49B5-A69F-37D24300821D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0fa32954c58b498b6586e3e737182cbd54171a0e","datavalue":{"value":{"entity-type":"item","numeric-id":4698206,"id":"Q4698206"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a9cbe789acf82014f451922104995a2361ef558b","datavalue":{"value":{"amount":"+0.85843754","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$42EE299C-C3EF-4CC7-8BC6-43C0AC07076A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bc80db6919f8f2139e78098f7b5859947659702c","datavalue":{"value":{"entity-type":"item","numeric-id":329134,"id":"Q329134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"beef7fcba1380f66cf8592058eec79245fe30612","datavalue":{"value":{"amount":"+0.8532666","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$1BDA1220-CE9D-419A-BB51-F1F8384A9529","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d1e5e61dee44758b81ee024dfd574b3ecf70d53e","datavalue":{"value":{"entity-type":"item","numeric-id":5453237,"id":"Q5453237"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5a58443621e725d58f1d4db99f4289e84d7ea407","datavalue":{"value":{"amount":"+0.8487437","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$D36A09F2-D41C-49B3-8651-0E42D31E67F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"065e801638229c81bf6e7b85a7236eacb24a8cb3","datavalue":{"value":{"entity-type":"item","numeric-id":2729612,"id":"Q2729612"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ad5746e2d7911c36aae5a6b1acb729ab87addace","datavalue":{"value":{"amount":"+0.8471129","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$8682D63E-10A3-4F95-B313-8A0708D36D54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"26440aa069dc9663552192a8cb45d6f399328e47","datavalue":{"value":{"entity-type":"item","numeric-id":4651578,"id":"Q4651578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2517848cf669aafa673b88328c3d801fafaf55a7","datavalue":{"value":{"amount":"+0.8467952","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4644087$FB003440-C631-4329-8B27-4254DD4BD402","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4644087","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4644087"}}}}}