{"entities":{"Q5241688":{"pageid":7271256,"ns":120,"title":"Item:Q5241688","lastrevid":40719995,"modified":"2025-04-04T11:30:03Z","type":"item","id":"Q5241688","labels":{"en":{"language":"en","value":"A new practical robust control of cable\u2010driven manipulators using time\u2010delay estimation"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7125374"}},"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":"Q5241688$1B70702C-2BBB-4F15-B905-1E7D74A91E25","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"19f724eff20ab09ebbff055d7ad6f7683776afed","datavalue":{"value":{"text":"A new practical robust control of cable\u2010driven manipulators using time\u2010delay estimation","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5241688$C1BCFD13-BE7C-4D12-BD6F-3DA36CEFBD04","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"94477fdc11a09ff59a4f809a2c0d1bed2be7a629","datavalue":{"value":"1426.93068","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$80AF5C0A-1599-4821-B07A-FDF99AE9BCBD","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3893d344fef3f8952c74e3ea04280fdd58466435","datavalue":{"value":{"entity-type":"item","numeric-id":1720442,"id":"Q1720442"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5241688$D5994BDB-0942-4A23-8889-5B27D574E71C","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":"Q5241688$7929BA3B-5F3E-4DA5-8528-E5F112FB3545","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7fe7641c53d198e52e9c42e49d5605d4f556f135","datavalue":{"value":{"entity-type":"item","numeric-id":1720443,"id":"Q1720443"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5241688$DA72123D-6183-4D0F-BD67-1E3161ECB7B1","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":"Q5241688$2BCD2EEE-2289-434B-AFD1-2BC15B7D6F7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a53f9669a9441ec37e7b6209f5726b3ff6ca0e88","datavalue":{"value":{"entity-type":"item","numeric-id":412924,"id":"Q412924"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5241688$F775182D-0535-4645-B29D-204C7B0770EA","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":"Q5241688$907D3245-B03F-4902-8E6F-080999172628","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a08a5233efdb0bfa77406699a389e94eb9331ca7","datavalue":{"value":{"time":"+2019-11-01T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5241688$E1210B1A-81C3-4A8F-BA3A-674AA9189245","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"30c44de7be251b06c724a821bfd07428e2a12118","datavalue":{"value":"93B35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$21B6C00A-1D5E-41C0-A649-8D6266AD97A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$AD6F4228-F924-4707-BCC7-F8A4C09AD7C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$2BE2178F-55A7-4009-AA78-A2283BEEFFA7","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"98afc56e11f97b82005cc033e4b4d8d5c954e544","datavalue":{"value":"7125374","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$68A240AF-FACB-4402-9F37-5D26C7F1CE50","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1ad670d5524c757a00a1f669e2941c43ab59ede1","datavalue":{"value":"cable-driven manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q5241688$435FEA28-3F15-420B-9B63-52F7BCAFD76F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"17ab5f587dd67844d46f6bed372c09a60fdc63fe","datavalue":{"value":"fractional order","type":"string"},"datatype":"string"},"type":"statement","id":"Q5241688$3DA6816D-B8F0-481F-86A9-B4F989D2A79D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"68d30e1561d0de0dd89f04c2aa7873e2683be853","datavalue":{"value":"model free","type":"string"},"datatype":"string"},"type":"statement","id":"Q5241688$FEFE630F-5E03-49DB-930D-E7573F94731D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"eefbafbdab62c3f904fe69e6c0977f36c4a94bb4","datavalue":{"value":"nonsingular terminal sliding mode","type":"string"},"datatype":"string"},"type":"statement","id":"Q5241688$F275E4D3-8AAC-4224-A372-B3725A649A90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c5623ad8ea686e4c956eeea724a7d9642d78eb4c","datavalue":{"value":"super-twisting algorithm (STA)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5241688$B20109A5-79BB-45A2-A816-65CC80AA98CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d94fbed86726184700e2735a6bb2e8f75ac132ac","datavalue":{"value":"time-delay estimation (TDE)","type":"string"},"datatype":"string"},"type":"statement","id":"Q5241688$613824E8-37E9-4786-8CD7-42FFA8CD778B","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":"Q5241688$67DABD57-4511-448E-A8A1-219959554B67","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2faaa2cc849d3016e208eae7cce61940bd52a338","datavalue":{"value":"https://doi.org/10.1002/rnc.4566","type":"string"},"datatype":"url"},"type":"statement","id":"Q5241688$D494E32E-7B53-4673-A628-DB26B2E204AC","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"2cf0fdc1ecb05fce41dceb90769ee25f04c82d00","datavalue":{"value":"W2938261389","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$E10071C7-1BB6-49EF-9043-D0C65159A00E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"d5214e08cbe6784192b5f62be4ede74ef9a02b7f","datavalue":{"value":"10.1002/RNC.4566","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5241688$0CD8F94D-B9CF-473C-9B3B-C0BCC6AA3832","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5bc3af79a258b3a92a3b2189fd12727a6520bead","datavalue":{"value":{"entity-type":"item","numeric-id":5026716,"id":"Q5026716"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"83f2782f095c5fb611f120ba119e173430612d56","datavalue":{"value":{"amount":"+0.9111232","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$A1032C11-4F66-4B78-B7AB-C4EE5598ECBC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3f479ae935806a5e912c19a4bdf65cb170106b8e","datavalue":{"value":{"entity-type":"item","numeric-id":6054874,"id":"Q6054874"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bb538f6e19536dfcc29a5ef2706d199dc086732f","datavalue":{"value":{"amount":"+0.87688416","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$1D7391AA-0BBF-4203-913D-68EE110887AF","rank":"normal"},{"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":"e40cb572ebea9787020fa92e0a386637e4fefcd3","datavalue":{"value":{"amount":"+0.8764227","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$12ACC972-28C0-48CD-888E-8241AD7B3D66","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a1fd3b839613fc5ba6163c6126a24c35177c02bc","datavalue":{"value":{"entity-type":"item","numeric-id":4364037,"id":"Q4364037"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b0191b612aec024efe10ad25f811c0c02b561498","datavalue":{"value":{"amount":"+0.87271446","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$AD6405F3-3ADF-4255-8057-81330B7F24FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"595699f767872ed43c6e07870ea9339e5f4ca3e3","datavalue":{"value":{"entity-type":"item","numeric-id":969773,"id":"Q969773"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e01d339e48bb24c81f31bc21ba9bbc6c5b8d4389","datavalue":{"value":{"amount":"+0.87241244","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$77B89986-5591-4BBA-B4B2-4C8F01E335F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3a70f58f5c0a5db5f0af75cb27a6977fc564da48","datavalue":{"value":{"entity-type":"item","numeric-id":5270468,"id":"Q5270468"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a11d144306d1391fcd9bbcae58e27fec1e7c2a71","datavalue":{"value":{"amount":"+0.8643694","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$B7FAE286-6296-4E7D-9AF5-AC4DC3CB701A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"80d4c2817059318a5d3e9cddbb5f935fba385d98","datavalue":{"value":{"entity-type":"item","numeric-id":2821345,"id":"Q2821345"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"52b465af7545a143e1faebfaa585d168131fad0d","datavalue":{"value":{"amount":"+0.8612608","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$F196B399-016A-45E9-BEAF-0EEA58CA6370","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"00d6b39953865e2b5fa0bf228edbb608365095e8","datavalue":{"value":{"entity-type":"item","numeric-id":1687352,"id":"Q1687352"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8bcb276af1b49173cd31f39a1a862b74ec704596","datavalue":{"value":{"amount":"+0.86048925","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$6310C85A-694F-4074-AC7C-D2D83F0BC0FE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bb7f79ed7ab7aae2aca611f05bd53e44e30d4759","datavalue":{"value":{"entity-type":"item","numeric-id":917357,"id":"Q917357"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5464072fa25b6d5abb12e823163d69764f6cc96f","datavalue":{"value":{"amount":"+0.8590942","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$DDA960C5-FB8F-439D-B1CC-9EA444687993","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"de80f29a0d28644410a8ef39ccd7047b21890d01","datavalue":{"value":{"entity-type":"item","numeric-id":4795908,"id":"Q4795908"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"69d500040f0a2fb2879084d3fc6973c80c4170fe","datavalue":{"value":{"amount":"+0.85875475","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5241688$15827FC5-D523-48C7-B2FE-2EA569F99D7A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5241688","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5241688"}}}}}