{"entities":{"Q473564":{"pageid":475331,"ns":120,"title":"Item:Q473564","lastrevid":62139648,"modified":"2026-04-11T04:01:55Z","type":"item","id":"Q473564","labels":{"en":{"language":"en","value":"Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6372260"}},"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":"Q473564$B98B4537-75CA-4BB6-8C23-12F63755712C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"82dfda6dc7b73a7c8a019ce5d1baf5f272b5b90b","datavalue":{"value":{"text":"Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q473564$78E44044-B126-4D02-AF53-E9CBC2CE56A6","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1a3639c9facfb504b90a9a8c05417022596aefea","datavalue":{"value":"1299.93183","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q473564$CBB5D333-9F19-42C4-9F46-D9A59A02C678","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a0a538d3c57c7faea0fd6cbe098bc8b396ce6e80","datavalue":{"value":"10.1155/2013/395410","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q473564$ADEFB200-DE23-47BD-8194-58D79337CCBF","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a5a06a602e9a85a124e88d34349645d548bdb408","datavalue":{"value":{"entity-type":"item","numeric-id":473561,"id":"Q473561"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$1558E2FD-F2E1-4917-95ED-E24404E4F536","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d9c6135393475a9bf94fedfa8f0d4436e955eecf","datavalue":{"value":{"entity-type":"item","numeric-id":251108,"id":"Q251108"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$95E7C96F-BB59-4015-8308-4C378714BDD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"901c8c23456d5a1f7f2dde7cea95ad90d569488d","datavalue":{"value":{"entity-type":"item","numeric-id":385196,"id":"Q385196"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$AFA8FE2B-DF97-4B75-83C2-2877E064B7F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"30891cc1b37adaed7d124eedd71fab091d0e5624","datavalue":{"value":{"entity-type":"item","numeric-id":1655025,"id":"Q1655025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$6FCDDEC3-280E-430E-AA60-C285C0E222C4","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$E3F967D6-8EC6-4613-A8EC-F2AB63154D5C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"baf80493586065a1490747a28bc7db754b9ba183","datavalue":{"value":{"time":"+2014-11-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q473564$57DB231A-0954-4204-B490-9AB807854CD8","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"cc930ff02735205525f970979b0aecdb190c9741","datavalue":{"value":"Summary: The practical stabilization problem is addressed for a class of uncertain nonholonomic mobile robots with uncalibrated visual parameters. Based on the visual servoing kinematic model, a new switching controller is presented in the presence of parametric uncertainties associated with the camera system. In comparison with existing methods, the new design method is directly used to control the original system without any state or input transformation, which is effective to avoid singularity. Under the proposed control law, it is rigorously proved that all the states of closed-loop system can be stabilized to a prescribed arbitrarily small neighborhood of the zero equilibrium point. Furthermore, this switching control technique can be applied to solve the practical stabilization problem of a kind of mobile robots with uncertain parameters (and angle measurement disturbance) which appeared in earlier in the literature. Finally, the simulation results show the effectiveness of the proposed controller design approach.","type":"string"},"datatype":"string"},"type":"statement","id":"Q473564$870B21C0-545B-4BD4-9627-BC4791CE6B62","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q473564$9D19E406-CE82-47AB-A3F7-743D9BF25279","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"26fdd08ada7a238a6e89f82a31affc6cc17f1359","datavalue":{"value":"6372260","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q473564$FAED58C6-E78B-4871-B16D-82FF1366C708","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":"Q473564$38AE74D0-10A5-43FB-AD7E-8B591B68F3C2","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"b308a7a4f4178c3de2af7870e390e9c78736e65f","datavalue":{"value":"Q59024402","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q473564$EAF045DA-0EBD-4912-9C83-91A5F908271D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2009aa423a83fafe321a04a7095c1e65316bb745","datavalue":{"value":"https://doi.org/10.1155/2013/395410","type":"string"},"datatype":"url"},"type":"statement","id":"Q473564$3690679E-08BE-4B54-B720-6253C64AD51D","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"88cc1b0b3bad6f32e93ba31f2e3a0588c811f1df","datavalue":{"value":"W2029893459","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q473564$45193610-2FF5-48BE-9B51-6B2A8424F22F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$C27AD110-9C88-4DC4-B53A-F264FCC3E578","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3098f0bcc36648405e5612c8b7becc0d216147eb","datavalue":{"value":{"entity-type":"item","numeric-id":3140192,"id":"Q3140192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$1E20FB42-9C5C-4C4A-A881-2E11F7316D5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6f6784df78c6a0ee71aebabe65b1009149b87d59","datavalue":{"value":{"entity-type":"item","numeric-id":1614355,"id":"Q1614355"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$ADF158C8-010A-4280-9E63-9AFAD128A091","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4aefd933befa8f627d3903f153065c00bd875a9f","datavalue":{"value":{"entity-type":"item","numeric-id":4763761,"id":"Q4763761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$4DAFDC2D-757B-4EA9-BB0A-5B5376A0612B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b8fb0b2b0f35a25d87bdae9693ab882dbbc23c45","datavalue":{"value":{"entity-type":"item","numeric-id":672719,"id":"Q672719"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$D1AEE899-C772-4ABD-9025-EFE0269A6B8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e21be8859097ac0c135191a3d0b5b0bbf584603b","datavalue":{"value":{"entity-type":"item","numeric-id":4031531,"id":"Q4031531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$6EA6C5B8-8358-4A0A-82DD-7FA2565B3950","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6bc7f418095b2f74709b2c3455f155463df808de","datavalue":{"value":{"entity-type":"item","numeric-id":1960636,"id":"Q1960636"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$2A980C17-BD91-428B-BE09-DA3CFAE44238","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f893c4fd6aa631f8c7d7c36b9ecc410a93d7978","datavalue":{"value":{"entity-type":"item","numeric-id":3109042,"id":"Q3109042"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$FDACDD41-77E0-495B-8321-F9C77EDD5BEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"597a976cf34cab7be05aad70bd25d11eb6902fed","datavalue":{"value":{"entity-type":"item","numeric-id":2917118,"id":"Q2917118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$4AFD99BB-0849-46C9-8D11-E4314147D9A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"faac96cdb143176889797712807d3945b64b96e6","datavalue":{"value":{"entity-type":"item","numeric-id":4844533,"id":"Q4844533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$59AB15A9-B234-494C-A543-0CE429139819","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c160bcd860e23aabbafe785065783cb0569b9db","datavalue":{"value":{"entity-type":"item","numeric-id":1940290,"id":"Q1940290"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$9F7C022C-5ECB-4305-AA8A-3A16898EBC3A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"193aac58f293928b74684daf195f4dab8a788890","datavalue":{"value":{"entity-type":"item","numeric-id":5958601,"id":"Q5958601"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$7B3E13D2-AEC7-48C7-9744-D221B99724E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"34b31dbba85594ef221ff156e047a02cab774f4a","datavalue":{"value":{"entity-type":"item","numeric-id":1978486,"id":"Q1978486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$D05E57A5-8AB6-4C2A-B0F6-F7A20DDE0216","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8f13a44c1992185ce2af48e0419faa46ae821de3","datavalue":{"value":{"entity-type":"item","numeric-id":1961999,"id":"Q1961999"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$084448AC-4B4F-43E0-A1E0-72D97BDE19C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a69591f6a2f53ecca82b5e96639b045ff36ae079","datavalue":{"value":{"entity-type":"item","numeric-id":5274152,"id":"Q5274152"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$AA1EBFF9-1E81-4A4B-B52F-F2BA1B3BB76F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d62b1b7270725ccc2a214f56418f6aed48dbbe4","datavalue":{"value":{"entity-type":"item","numeric-id":4400237,"id":"Q4400237"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q473564$C7620ED3-6824-4DA8-8E2E-D5B5C5069678","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bb19f911596497cc56c72853b500286e3efa394f","datavalue":{"value":{"entity-type":"item","numeric-id":5396899,"id":"Q5396899"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"57c7c4c937a54b39b2691a6cf5d28ecf333922a9","datavalue":{"value":{"amount":"+0.9428462386131288","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":"Q473564$71D663D3-D3A7-44B8-8E39-FFA1C2B5DB2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2f8f2953bf21e066066b3f804b8f009dfb5b0194","datavalue":{"value":{"entity-type":"item","numeric-id":2917118,"id":"Q2917118"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a247abbcb2366626a67481fddeff25d8a7bf6e1c","datavalue":{"value":{"amount":"+0.8977487683296204","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":"Q473564$48865BFF-E54A-4214-9D3D-CFC0A7527633","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7ee49ff224a58aa8eb74a1fe2ad31ee8e8e21bf2","datavalue":{"value":{"entity-type":"item","numeric-id":2930754,"id":"Q2930754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"96e703e0eaa1d2bb84050dcb0ecde8168e8b03d7","datavalue":{"value":{"amount":"+0.8874756097793579","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q473564$ED39A289-F79B-49C2-B0DE-63EE2C0CC54A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"efa8f7bce876b9f97a186cd81a2dad594577bdc3","datavalue":{"value":{"entity-type":"item","numeric-id":5167997,"id":"Q5167997"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"838bc897d488c33e9dd421a52259268c086d4c63","datavalue":{"value":{"amount":"+0.8740742802619934","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":"Q473564$1BB2FA7D-9070-48E7-AEED-D3304E48DAEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9638cb5b656705c8052845390e75132e8f4c0999","datavalue":{"value":{"entity-type":"item","numeric-id":2886735,"id":"Q2886735"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"70007f52049230fa1cc47e1d195bb2173fe6e824","datavalue":{"value":{"amount":"+0.8680724501609802","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q473564$FA95FD16-7765-4628-9887-FDE5DFD9804A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Practical stabilization of uncertain nonholonomic mobile robots based on visual servoing model with uncalibrated camera parameters","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Practical_stabilization_of_uncertain_nonholonomic_mobile_robots_based_on_visual_servoing_model_with_uncalibrated_camera_parameters"}}}}}