{"entities":{"Q6090142":{"pageid":13224449,"ns":120,"title":"Item:Q6090142","lastrevid":55533439,"modified":"2026-02-17T18:22:37Z","type":"item","id":"Q6090142","labels":{"en":{"language":"en","value":"An intelligent sliding mode controller of robotic manipulators with output constraints and high\u2010level adaptation"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7779519"}},"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":"Q6090142$45158A44-90DD-469C-9068-F602F1668403","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b378e47e9a2d2d71c8e472c8699be586abd246b0","datavalue":{"value":{"text":"An intelligent sliding mode controller of robotic manipulators with output constraints and high\u2010level adaptation","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6090142$337751A4-5CC3-4D0B-927A-BCCD9392BE7D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0a321079bb6dea2ebf3ff83fe211816fcd832144","datavalue":{"value":"1528.93021","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$3B912971-4822-43EF-8229-C2F90C652479","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ab4af2b35864165c271ffd686169966e726f0bf7","datavalue":{"value":{"entity-type":"item","numeric-id":6090141,"id":"Q6090141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$F2777BFC-834D-4D7D-90BE-6AE8CE0D30A0","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":"Q6090142$2251922D-5E62-4B5D-A5B1-B1D831D71F31","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"2438d9d7c9aa50f8a62e7053f6e48e299c089931","datavalue":{"value":{"time":"+2023-12-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6090142$5FDA05BD-A5AE-4961-B56A-78ECE62A9A19","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$2B369B3A-EBDF-41AC-8A86-BC7B602BDFB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$B79B5D16-A040-4346-92E9-051F4724659D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$77CD8B81-702C-4F6F-9934-A2A74232CA3D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9cc327133609a3995af10582e44914ca505eb75b","datavalue":{"value":"7779519","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$7C35216C-A698-4491-9873-A9C6D502CDAC","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ecc25adadd7834a1dbe8ebe1633024ef991c2242","datavalue":{"value":"constrained control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$4DE4C1BC-184D-48F5-8659-A72B251F474F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe7e1290d82867c350810a4f64eb42447e7dca13","datavalue":{"value":"disturbance observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$B32E8839-F876-499A-AFC1-3D3AD10D0CD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"efe718e4d63a2967c681e90aab09ef9d87bc4715","datavalue":{"value":"high-level learning","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$6D186F7B-A6B5-483B-92DA-D1293C84AE5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"538fbdfd5d6ee922aaa9d680babb4730b128b037","datavalue":{"value":"learning control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$5F3454FC-0D67-4ADB-AE0E-7C61AF50C1E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"07e82951ab22f654f405a3a6f5b06ab8f72b2ad2","datavalue":{"value":"manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$C8898E80-A9B3-4E10-8481-F9B463C5FF23","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"489ab7d1ed883f4d7e060fc59cc4766ddac5c39c","datavalue":{"value":"motion control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$872DA192-926F-46D5-ACAE-6920A5845777","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"694eecdc2f71e4a898283c6db5c2b7894fc662da","datavalue":{"value":"neural network","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$0CC290C3-0CB8-42C8-BD23-BC4BBCF98749","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6090142$8347896F-10C5-41D6-9140-23DD6270055A","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":"Q6090142$2E93A612-91F2-4990-90EC-167F07817D40","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"abce838879358b44550970030c37e21d4c1b11a2","datavalue":{"value":"https://doi.org/10.1002/rnc.6174","type":"string"},"datatype":"url"},"type":"statement","id":"Q6090142$1D302ACB-671E-454F-A40D-0529C9A3CDE5","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"cfc4ca05ad55c9e981b0fc417707d1fdb717fe97","datavalue":{"value":"W4280507414","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$9EDED477-8876-454C-8B9B-B2D9FD905FBE","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"be71ae5c771a59ba228486289baa71672a3027fa","datavalue":{"value":{"entity-type":"item","numeric-id":646457,"id":"Q646457"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$1EBC349E-90CB-4F96-91D1-75F6E9245F6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e84e088a1ec44cba667f43bc944ec561d1b6d417","datavalue":{"value":{"entity-type":"item","numeric-id":5130061,"id":"Q5130061"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$F05353ED-8710-4477-AF8B-764C77712CCA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd9dfc3975d39dda4d91b1cc4e7504ac5b52c69d","datavalue":{"value":{"entity-type":"item","numeric-id":494915,"id":"Q494915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$F1614CFD-BA5B-48E6-96F6-E5031FFBA8D2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2dbd0ec84ee4cfb4da3f6c7c7f7527b0e235035","datavalue":{"value":{"entity-type":"item","numeric-id":4974342,"id":"Q4974342"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$5A56DBE5-890B-4063-B3EE-E0E87BA1F4E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f8a76d4860213ad96a2922c53f335ed09a825ad2","datavalue":{"value":{"entity-type":"item","numeric-id":2280668,"id":"Q2280668"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$A234F75D-5D56-44C1-9FF0-AA3EDB0D2014","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bcd05499e3591ad562223e9f8db3c636564dc0c3","datavalue":{"value":{"entity-type":"item","numeric-id":2288590,"id":"Q2288590"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$7D933FA6-1050-4817-B9E3-7297F539071C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"053361cb170869eb937a639cfb4cedb0726b23c3","datavalue":{"value":{"entity-type":"item","numeric-id":1797072,"id":"Q1797072"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$22B88BAC-0A8B-496B-B88E-BCEA6D86E853","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"62af0a5b86a94db61fa5033912d2a80226c7c4a1","datavalue":{"value":{"entity-type":"item","numeric-id":2288706,"id":"Q2288706"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$947D4DAA-BC20-42FE-99E1-73217B33679B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60d8967fb6fa57e915571d1ee40d9efaa26e60d4","datavalue":{"value":{"entity-type":"item","numeric-id":4978819,"id":"Q4978819"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$FD190EDE-C806-4FA6-A6FE-F06D4C1E7E86","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"181ba59f862ad3b4248ad6bcfb31b61ff479e74b","datavalue":{"value":{"entity-type":"item","numeric-id":4686331,"id":"Q4686331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$84404F50-B474-438C-BE32-C60914A42D3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7a7a8523fddfd97798f0d15baffd4e67e2a9fe32","datavalue":{"value":{"entity-type":"item","numeric-id":2268693,"id":"Q2268693"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$0015DEE8-BF36-4184-92E4-E4ACBFC2645F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5d83902ade47ef69b34a0b9f35a094365f378a2d","datavalue":{"value":{"entity-type":"item","numeric-id":3494813,"id":"Q3494813"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$4DB2665A-6600-4A7D-8431-C2E2D047A6E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8af671da8c622815e517186b76fc0e3824de9a09","datavalue":{"value":{"entity-type":"item","numeric-id":4460529,"id":"Q4460529"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$F7782A21-22F6-41FB-BA58-26EC36669C47","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"26ec98f93544f7ea555fc8fc4647f767f10954bd","datavalue":{"value":{"entity-type":"item","numeric-id":503187,"id":"Q503187"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$399A1D80-1386-4735-B4D0-7FD12BD1ACB4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"50a975bdc972b1fdebeb550c4bd14092edcf9648","datavalue":{"value":{"entity-type":"item","numeric-id":4990261,"id":"Q4990261"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$2A6A868D-A9E1-4B68-B787-81967A998933","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9389b8da2a796dc94532e71bc37eaa95ec4a5afd","datavalue":{"value":{"entity-type":"item","numeric-id":2217631,"id":"Q2217631"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$C20C3B9E-E54A-437A-8E88-AE62A5174DBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bbfc20a70c36edd98fcbee50ef6b7b209ac928a6","datavalue":{"value":{"entity-type":"item","numeric-id":966108,"id":"Q966108"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$D2FA2B7F-6DBB-4C9F-82D1-7D8B81C21E54","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e9d68914c0bb20a68ff8a98ea449b9bef38324e","datavalue":{"value":{"entity-type":"item","numeric-id":5907034,"id":"Q5907034"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$21D5B928-BC54-414F-A8A8-31FDB64DE009","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1c48cc560b409d49a8557b49c60f6d76bde09c8f","datavalue":{"value":{"entity-type":"item","numeric-id":5354403,"id":"Q5354403"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6090142$9A9B1A85-07A2-4956-A6D2-AC157436C3E1","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"060adadb0296b054b9ecc98d34f437cead463140","datavalue":{"value":"10.1002/RNC.6174","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6090142$6D9B7EBB-2785-4261-9274-8A7288AF99C9","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"acaec59dbd17d00a071bc26aced63ae5cd76994c","datavalue":{"value":{"entity-type":"item","numeric-id":4552135,"id":"Q4552135"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4285f2cbb35ac8fbd3613c1bf56ae99efe615dd6","datavalue":{"value":{"amount":"+0.7846697568893433","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":"Q6090142$3805146B-D7FB-4103-A67A-277C943AFB9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"54d85c05420d312d6d3da6b5a839a2eab20b26fa","datavalue":{"value":{"entity-type":"item","numeric-id":2954027,"id":"Q2954027"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bbbb1415084f8a114a99f9bd840c9bc3064b6fd2","datavalue":{"value":{"amount":"+0.7744174003601074","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":"Q6090142$8AC0A111-BF6D-440A-99E5-493D1EE935E0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1d7e7b5bcbed23655facd436602a327b3b096b39","datavalue":{"value":{"entity-type":"item","numeric-id":5028652,"id":"Q5028652"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"641f0a56e22ed40d2c43cea8150ac65ff121b945","datavalue":{"value":{"amount":"+0.7679020762443542","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6090142$AA0D1D6C-CE02-4F30-9ACB-C320026AED8F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fcf874d10ccfd3cfdbea97a0c1f0921939558de0","datavalue":{"value":{"entity-type":"item","numeric-id":1707839,"id":"Q1707839"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"52f16b984ad2386d61ab0c93ec3902102bfeeb5b","datavalue":{"value":{"amount":"+0.767851710319519","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":"Q6090142$73FBBA26-4AB5-4E10-ABD0-67F138416539","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"277e020fdb6a6bd1ce1b5b2446fcb306c9ae1494","datavalue":{"value":{"entity-type":"item","numeric-id":6578407,"id":"Q6578407"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"eeb36de08e1160a5ede1265b0f92f6c52c95bd10","datavalue":{"value":{"amount":"+0.7678318619728088","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":"Q6090142$7600BFED-822E-42A1-87FF-CF67D65A5111","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6090142","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6090142"}}}}}