{"entities":{"Q4967990":{"pageid":6997569,"ns":120,"title":"Item:Q4967990","lastrevid":53475590,"modified":"2026-01-25T00:42:38Z","type":"item","id":"Q4967990","labels":{"en":{"language":"en","value":"Adaptive motion/force control of nonholonomic mechanical systems with affine constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7079583"}},"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":"Q4967990$CA7B919E-372B-494C-BD08-91A8214582CB","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"2f904ea47e85c0313198fd628af310e00d8fa1b2","datavalue":{"value":{"text":"Adaptive motion/force control of nonholonomic mechanical systems with affine constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4967990$51F9CBD9-7109-4370-8D05-055A56539B96","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f465e43920951ab2239fe46d61c59604e736149e","datavalue":{"value":"1416.93113","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$8E9E5F36-D494-4365-9670-5D8F51210224","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"614af9a8eda43e2c1f4e8a424363ed105a3b57b8","datavalue":{"value":"10.15388/NA.2014.4.9","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$7846CF5B-8610-4E37-97B6-3CF1EAFD77B6","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"358eedef1fa2e58ca820439e80c8e0269bae671f","datavalue":{"value":{"entity-type":"item","numeric-id":3295049,"id":"Q3295049"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$8C4BBC93-DD15-40CB-A57B-946FDD25663E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0eaf95e77ca1b4130000107923cf17e957ee1827","datavalue":{"value":{"time":"+2019-07-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4967990$79157D41-5515-4741-8527-BBD192E84EA0","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$5B6C0F1C-33B2-4FDC-983E-2363CF1D482B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"49ef3b4797600cbe976ece1a8c01b3a77e72fdd2","datavalue":{"value":"93B25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$C61814C1-4698-43EB-A07C-E86CE51469C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$5A5928EF-B0E6-4287-B706-827E0B504BB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0ba2842931f306df7115450868bb0fb7d07d2a0c","datavalue":{"value":"93B17","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$C5E47A57-7F2F-45E7-98CE-F429E3349631","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"2c05236ba6c6eb01728e5ef50a3d845c0afa0da1","datavalue":{"value":"93C41","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$76118685-04A8-4DE2-8249-708A11926D4E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9985b9b64426e704c04450fc74d5f84d98005ffe","datavalue":{"value":"7079583","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4967990$86C16936-3EA1-4F41-9E96-457AC4A8EF2C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"db9c25e3a21d16b23367bacdd7480078371d6c10","datavalue":{"value":"tracking control","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967990$12E32CC4-F3B8-4FAB-9F89-40B03DF64DF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"06b8766a6338d039f5789eae2363a18853a34742","datavalue":{"value":"nonholonomic mechanical systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967990$779CE10D-5AC0-4A8E-9359-7F6C72276724","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f4f13af7f080469b0622473abfa3f0efdb62154b","datavalue":{"value":"affine constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967990$D910E9D0-4AC9-477F-9660-E0E4923734DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b253d7d94b74404330dfb928accbc7530cbafcd3","datavalue":{"value":"adaptive control","type":"string"},"datatype":"string"},"type":"statement","id":"Q4967990$DDD79934-7732-4035-96AD-6E6BF7854CB5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"47edd3f52a13ac6d9ec286bc0a7f2f58cdb76447","datavalue":{"value":{"entity-type":"item","numeric-id":435737,"id":"Q435737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$8940E674-6225-4774-B22C-D55CBA698BCA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"05a195aaeebca7e05e50c2193e3e3c51fc833392","datavalue":{"value":{"entity-type":"item","numeric-id":1640251,"id":"Q1640251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$1134E7B2-95BC-4C7E-93B4-BE42626779EA","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":"Q4967990$94AF5493-2D89-465B-8D11-296B9256A2DB","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"52081aa161c8d1d8d2c6f83af16e9f654fa7c3a0","datavalue":{"value":{"entity-type":"item","numeric-id":4506664,"id":"Q4506664"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$E301FB9B-DAFB-4C5C-BFCA-F573BAF8A90A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6073a2c878d47d2dd8fdc22f0accc96021c8843a","datavalue":{"value":{"entity-type":"item","numeric-id":1004127,"id":"Q1004127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$19A3050F-63D7-460C-89E1-D2F34C211A75","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fa7b9e8ccd5fbee1ff96136816cf3e2281296c7","datavalue":{"value":{"entity-type":"item","numeric-id":4031519,"id":"Q4031519"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$0A42922C-6606-4ADE-8294-40B7A472EDF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4f1ff80d6ededa7aa0fe1011fddbf632b47ce54b","datavalue":{"value":{"entity-type":"item","numeric-id":2518129,"id":"Q2518129"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$5EB1C492-CDC5-4549-94F3-CE9D303BAF09","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"848c4d5948facf2230dc38a77ef650a0df2e9545","datavalue":{"value":{"entity-type":"item","numeric-id":4934212,"id":"Q4934212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$815B1F51-C2C0-4AA5-884F-1FCCB1637C8F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"489e5182f57c52f671a1b4f2a3b061e84c934dbf","datavalue":{"value":{"entity-type":"item","numeric-id":3100679,"id":"Q3100679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$FAB31286-FD23-4647-8DDA-B2696401C141","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3696e837177a7a402e076172c06275482ded9d02","datavalue":{"value":{"entity-type":"item","numeric-id":732537,"id":"Q732537"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$DE9E89F1-630E-4D91-B9E4-0346B17006CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ecf84ed682fdf63a6476c113a23ad7bf6213128b","datavalue":{"value":{"entity-type":"item","numeric-id":4540331,"id":"Q4540331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$282B309A-2A0B-47AA-B098-A5E83EA15996","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0d2d8711b441d2b39b1b0471a418b9eb07658399","datavalue":{"value":{"entity-type":"item","numeric-id":4306721,"id":"Q4306721"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$60D1026B-DCEF-466D-9CDF-205D6C111586","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1e3b8557a68fd7459d95085f39866236841c55cd","datavalue":{"value":{"entity-type":"item","numeric-id":446106,"id":"Q446106"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$4F800154-6F0C-4107-9CFC-6900C9BCD243","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7971b6fbcd3903ad34f561ee58dd6bac84461795","datavalue":{"value":{"entity-type":"item","numeric-id":693409,"id":"Q693409"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$5A8723BA-4EBA-4849-B64C-F9274CDFFE7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e35783952ca0b64f6c40f3c5e4d4ce0517b93555","datavalue":{"value":{"entity-type":"item","numeric-id":608446,"id":"Q608446"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$9F470DB5-426A-44EC-8F14-3C22E53F0873","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"05ccd0f7f64cdd650d891ec1141ed2738f38e927","datavalue":{"value":{"entity-type":"item","numeric-id":1614416,"id":"Q1614416"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$1C0F10C4-1EA3-437B-BA2D-09196D23A17C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"113a598b7bf2fe8660aed198eb8c26f6ba9d71c5","datavalue":{"value":{"entity-type":"item","numeric-id":5273828,"id":"Q5273828"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$5F61D07F-1B0C-4215-A574-E17B26EB1779","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d43b9f6552307bc6ff5a385f620a7e6e9a017745","datavalue":{"value":{"entity-type":"item","numeric-id":5282278,"id":"Q5282278"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$CBDECFE0-C7E7-429B-8A2A-C4A0E4D0A9D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"22da30d9740755aba249b1e5b0f84438d96c3ca3","datavalue":{"value":{"entity-type":"item","numeric-id":5347581,"id":"Q5347581"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$CF875896-7021-4801-A625-0AAAEF72CF6A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4967990$5477CD7B-93C4-44BA-8D21-622AED7A24A6","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b8414db6734d0d64bd992ef92f0820aa78b78fe0","datavalue":{"value":{"entity-type":"item","numeric-id":474590,"id":"Q474590"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"08b974efd52112119bcf9103042d00c40228b13f","datavalue":{"value":{"amount":"+0.8426670432090759","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":"Q4967990$833EAF3E-3121-48CA-A8AD-C96A34B3DA1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d6d49eafb7a1d325d325ecdfd519693790f4408a","datavalue":{"value":{"entity-type":"item","numeric-id":2350852,"id":"Q2350852"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9a8945f26ebcb95747771facfcf0217490b76b60","datavalue":{"value":{"amount":"+0.8360982537269592","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":"Q4967990$6039540F-2C44-4E4B-A4EA-4BEAA881D28C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8e7232750e86a7b9e077e82aae0c8c443b4d4e66","datavalue":{"value":{"entity-type":"item","numeric-id":3594986,"id":"Q3594986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"47155ed18b8e038ee81dbea5e35b7eb9d4bb5e49","datavalue":{"value":{"amount":"+0.8314603567123413","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967990$AA2989D3-9966-494B-8227-B614ECAA1685","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a93cdf3b8ce855f74e5cfec655fcb27bca5d7748","datavalue":{"value":{"entity-type":"item","numeric-id":4934212,"id":"Q4934212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6dfeccbe344db3f40d692be479750dd123b2b25a","datavalue":{"value":{"amount":"+0.8258458971977234","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":"Q4967990$14374459-42A7-4DC3-A096-92678FDE437C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"504125166be99deee31796b01c1a5ddd4d03ea73","datavalue":{"value":{"entity-type":"item","numeric-id":4540331,"id":"Q4540331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6dfeccbe344db3f40d692be479750dd123b2b25a","datavalue":{"value":{"amount":"+0.8258458971977234","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4967990$AC35AE4A-EBED-4611-86F1-D4B9E9AB563B","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4967990","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4967990"}}}}}