{"entities":{"Q6134213":{"pageid":13268520,"ns":120,"title":"Item:Q6134213","lastrevid":94120187,"modified":"2026-06-05T05:55:30Z","type":"item","id":"Q6134213","labels":{"en":{"language":"en","value":"Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7716532"}},"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":"Q6134213$491B9579-3D17-455A-8F02-0818FFB42FA3","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0b08c4e29a9cdb547daba63c9db275e07d1c02bc","datavalue":{"value":{"text":"Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6134213$66069CE4-190D-4CAF-A6B7-9989F992BCDF","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"991642718b2056cb44aeafa78f2a04dffbe0ee0d","datavalue":{"value":"1520.93476","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$09976C69-61D1-4B34-B0C4-B666CDE19DEE","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1ba9e37b0ea12a2a68e94eff4a09960c457f9d8c","datavalue":{"value":"10.1080/00207179.2022.2079564","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$E3B4C241-E749-42BB-8573-E499F4EEE008","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f0c0b96836d0915559681c07be455d979b283438","datavalue":{"value":{"entity-type":"item","numeric-id":5231436,"id":"Q5231436"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$7944A160-17EB-4386-95B8-0A52924F2BD4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"76d2a2bc392c1d9d7efceb884c42427017cfa2dc","datavalue":{"value":{"entity-type":"item","numeric-id":6134212,"id":"Q6134212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$BB66600A-4ED5-4B30-9B0E-4C6C4C9E75B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c76e28e986c74e898de3e25e27182548b7796e18","datavalue":{"value":{"entity-type":"item","numeric-id":1722919,"id":"Q1722919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$90A515B4-57FF-4818-9539-123BB7792D2E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a464175fbced5d3d2a8e22385ced79c90cfe4670","datavalue":{"value":{"entity-type":"item","numeric-id":509377,"id":"Q509377"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$7C52EC1A-6ABB-4031-A339-B98C0700188F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e189bb587be39a90a97c3582a7fc9986d8eba8db","datavalue":{"value":{"entity-type":"item","numeric-id":308231,"id":"Q308231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$9CA8BE96-D16F-458A-A6EC-7EC26309E87C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$CF9E570A-7640-480B-8869-BD6426BB93DC","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c23e2f8c5005e57b25458422f4cd3f060374be12","datavalue":{"value":{"time":"+2023-07-25T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6134213$F96A2C32-9569-4D5B-BACD-1E187C7DB289","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c40b5d207b98d7119d9e445937aa745edafa81c3","datavalue":{"value":"93D40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$C4282D5E-6037-401B-AA8D-2A05CE3193AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$B9D2DFF5-F2F8-464F-96A6-E600AEDDD7EF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$4F143420-016B-4944-BD26-B30B639A3DBB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$A2E57A22-0343-4808-B51B-4992663B1BB9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"1b25cfff100e75347548837de0d6be9897bf2ca1","datavalue":{"value":"7716532","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$D699DC05-A2DE-4B19-9677-6F456F94F142","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4f632427541b9fecd781b122916dad1a9d3a0cc0","datavalue":{"value":"5-link biped robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q6134213$48F4BC76-6B6B-44B5-8308-DA44D66048D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"73c3d4579e7813e2aa4e7592c253ea84af7fbaae","datavalue":{"value":"finite-time convergence","type":"string"},"datatype":"string"},"type":"statement","id":"Q6134213$548CA526-CA1C-46EA-8AE5-77F63DEA8063","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"38f574d4654c51aaf92769860bddd58a7bd97d55","datavalue":{"value":"adaptive law","type":"string"},"datatype":"string"},"type":"statement","id":"Q6134213$96B3CC31-7086-4252-AC00-B2128A52B11F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9bb1d37c6f206dcb76752f6ee5fbc03cc34c0657","datavalue":{"value":"input saturation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6134213$B29789DE-B399-4CE7-9FBB-A94B2BDAFD7D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cc5c5630cecbdc82f1e452aeaf55295145090189","datavalue":{"value":"practical finite-time stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q6134213$94F0D144-CF40-41D0-A13E-B48F05A1D97C","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":"Q6134213$769B4630-2233-4DBE-A849-5B5F614BAEC7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"caa8ad8af1569f1567125d3235a7b2d2063993fe","datavalue":{"value":"https://doi.org/10.1080/00207179.2022.2079564","type":"string"},"datatype":"url"},"type":"statement","id":"Q6134213$F83CF238-28C0-4DCB-8834-B0540B4716DA","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a96a40d7a4a672f85549134f6fd71f24cdbd9247","datavalue":{"value":"W4280574537","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6134213$58462A62-57F3-40FC-A7B0-6E10BFABEFD9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"dcb9fbec19ea62b8678cc9e5aab9c6810271ac7c","datavalue":{"value":{"entity-type":"item","numeric-id":5231438,"id":"Q5231438"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$E525F895-DA1E-4D70-9CB6-67232E2BD1D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e0f44dd3d2fef3424c58e87775a9bb28af552b45","datavalue":{"value":{"entity-type":"item","numeric-id":4960166,"id":"Q4960166"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$41E6BDBA-2C5B-4386-AD98-3E3EF2A63872","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c63a7f7b70e8664b3c4ff393cfe071243c94ea2","datavalue":{"value":{"entity-type":"item","numeric-id":840286,"id":"Q840286"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$E56D7E30-E88C-49BE-A194-75223104B1E5","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":"Q6134213$B7909DD7-7E42-4550-8188-65FD10046856","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a431a0877c3bc3191ce9f3b4f240063e3c4dde20","datavalue":{"value":{"entity-type":"item","numeric-id":1644539,"id":"Q1644539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$6A478C2F-1DAF-4501-B3F9-F6EA140FA728","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eef1e6617945525c5c6053bc0810da0207e6366d","datavalue":{"value":{"entity-type":"item","numeric-id":2280749,"id":"Q2280749"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$1A23B27A-BDCC-4149-8F45-8F9118BB15C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"082da97ada6ea777ad4740578b655a3e2a1ac54c","datavalue":{"value":{"entity-type":"item","numeric-id":4651181,"id":"Q4651181"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$2A0F319A-4998-428B-ABD5-39A807406F02","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ac6bc5171a08151497ec570042bc02f7781fa15b","datavalue":{"value":{"entity-type":"item","numeric-id":5197937,"id":"Q5197937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$F542C34E-5CF4-4B4D-AA63-342F7354143E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"000226e33fc526aee1a1b437e153ebd71b26c8cc","datavalue":{"value":{"entity-type":"item","numeric-id":2954027,"id":"Q2954027"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$7BB599C3-964A-4593-A81C-B1CA32FFD238","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6feda466a1c0f7dccdb7bbe4329f9b8801ca4f1a","datavalue":{"value":{"entity-type":"item","numeric-id":2205379,"id":"Q2205379"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$B627763F-D13F-4363-9158-36B01C8A98F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8ede0d8c9bd5367afd9ab2f08f8b5d70b6474b9a","datavalue":{"value":{"entity-type":"item","numeric-id":5012672,"id":"Q5012672"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$3AB03140-C8AC-4E85-9796-F13B52493444","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a81b18812faf0233b5bf09dd753101f451163361","datavalue":{"value":{"entity-type":"item","numeric-id":5129620,"id":"Q5129620"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$50B9DE83-4DB1-4EF4-ADD1-B816E87DFFEC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"324f4c8cb8b170fa5b77333069fc04d002eacd2d","datavalue":{"value":{"entity-type":"item","numeric-id":3085530,"id":"Q3085530"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6134213$EA0584E1-1337-4638-8031-96C309590271","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"428451ff1052cf6adc5d3f0d47bd8f635d15b2d1","datavalue":{"value":{"entity-type":"item","numeric-id":1667076,"id":"Q1667076"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"946d2f7e0f25f677fff7b71ac32c7dcfaa1249de","datavalue":{"value":{"amount":"+0.7781957387924194","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":"Q6134213$95AB96F2-41D5-4F06-B2B3-22E7456E00E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9cb93a34c6bd0e74185b4887d5a04e009c4a3687","datavalue":{"value":{"entity-type":"item","numeric-id":1900796,"id":"Q1900796"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"196fc19341b505b2c5f1af22ef52735db9ada665","datavalue":{"value":{"amount":"+0.7596361041069031","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":"Q6134213$8DD46D94-A1D7-404A-853B-9EA73270222B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e68ffd70ca8499c034055ab06a0e999639be00c1","datavalue":{"value":{"entity-type":"item","numeric-id":4213288,"id":"Q4213288"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cf96ba06f1a39a32b17d9a82c08ad3d869bf4e4a","datavalue":{"value":{"amount":"+0.7568179368972778","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6134213$A82D443F-22D0-41E7-BE26-A15A6C01EF15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"857a1f37f8306336a2e3401185a1ca8ae781d1dc","datavalue":{"value":{"entity-type":"item","numeric-id":4651181,"id":"Q4651181"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ee952ca24943d41ed6c503b9822922d37b49c542","datavalue":{"value":{"amount":"+0.7465059161186218","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":"Q6134213$2C3F6871-2C9D-4320-9D6D-E1DA07159380","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"47b35ae9f1921482ca27a98bb3cfdb4d5ba2d8df","datavalue":{"value":{"entity-type":"item","numeric-id":2205379,"id":"Q2205379"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7a3e766965675358b8e936e670db1e81d31a03dd","datavalue":{"value":{"amount":"+0.7432495355606079","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":"Q6134213$58159334-CFB7-4102-A090-9FE7AEEAA33C","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Practical_finite-time_adaptive_sliding_mode_control_for_5-link_biped_robot_in_the_presence_of_uncertainty"}}}}}