{"entities":{"Q6498949":{"pageid":14077722,"ns":120,"title":"Item:Q6498949","lastrevid":55652443,"modified":"2026-02-17T20:24:52Z","type":"item","id":"Q6498949","labels":{"en":{"language":"en","value":"Virtual angle-based adaptive control for trajectory tracking and balancing of ball-balancing robots without velocity measurements"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7844289"}},"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":"Q6498949$17ABF41A-3875-4DA7-8B59-E5DF038A9D28","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8459ebf44c43fee647efead9ec3fa95e18aac786","datavalue":{"value":{"text":"Virtual angle-based adaptive control for trajectory tracking and balancing of ball-balancing robots without velocity measurements","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6498949$C25D64BA-2673-4D05-9B88-2BBAA3E9D914","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7dbc50e268dd928bfe69f9586daac4715b2afb05","datavalue":{"value":{"entity-type":"item","numeric-id":6498948,"id":"Q6498948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6498949$870C1C3C-34AA-4496-9D49-A14217351496","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7418432083168272cc88e7478edac6c12bc3e912","datavalue":{"value":{"entity-type":"item","numeric-id":344081,"id":"Q344081"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6498949$EA08B538-3B70-4D85-BEE1-A1881CDA9AB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d73b2a2ff4e27b71a789606fc9e8433b7f625a03","datavalue":{"value":{"entity-type":"item","numeric-id":347312,"id":"Q347312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6498949$C0DFBF36-6176-4B39-BFAA-1BF5B2E8F8DF","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"2b88f9f48ca2368cf07a2a6899216440a4f7b5cc","datavalue":{"value":{"entity-type":"item","numeric-id":90646,"id":"Q90646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6498949$DB912FF8-8C3A-4F32-A415-528A300B93EE","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"591d6329015fe1d528aff69c1e1ba256bd049037","datavalue":{"value":{"time":"+2024-05-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6498949$4FD5D768-C023-4410-87A6-EA3B8EACF7A1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0d5eef6e848157326ce3189563feefa6213bff81","datavalue":{"value":"93-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6498949$9CD884A0-BE57-49BD-B441-F24CC9564AFD","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4e9214896f3274ea25374049927cfcc6ce24c09a","datavalue":{"value":"7844289","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6498949$DB5849A4-2A5B-4B6D-BF7D-E0D100CFB776","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"62c42fc02864f0444aebd397e547453c038f6b49","datavalue":{"value":"adaptive observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q6498949$21FA085D-F52E-4D9D-A561-B894E06E21F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"af0bfafb2e010a53eac8e6358b9b8c485d86c24d","datavalue":{"value":"balancing","type":"string"},"datatype":"string"},"type":"statement","id":"Q6498949$EE83252B-91CB-4368-BE3F-0DA912345847","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"065c11196de6e8c7afb2aa85edd8bc4f9449c001","datavalue":{"value":"ball-balancing robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q6498949$C598AD48-01FD-42BD-8C43-36EB00B3289A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9bb1d37c6f206dcb76752f6ee5fbc03cc34c0657","datavalue":{"value":"input saturation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6498949$57DDDAEF-E542-4AF5-A428-E7413F20E013","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fe5ee8e12f0d39468e87e17b5871f2dc0c3be60e","datavalue":{"value":"tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q6498949$CF99D4AB-39DD-4E1D-8BE3-C9C16A8FCFE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"51f31ccc71d7847d590e58d64a6898d6e4ffbe8c","datavalue":{"value":"virtual angle","type":"string"},"datatype":"string"},"type":"statement","id":"Q6498949$33700B8D-A8BA-4293-A63A-9CF9B9B66D09","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6498949$B5BF4D7C-9755-4D1A-BAA9-933B85C00EF7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"9a9ea6efa56918b0726fa6b494e2b403f15394b2","datavalue":{"value":"10.1002/ACS.3634","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6498949$A457D587-488C-4DE7-B002-B4717965B509","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a1a9d0656f0e0bbdba6d365c8a7c3e29092c286e","datavalue":{"value":{"entity-type":"item","numeric-id":2792810,"id":"Q2792810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a8f678172bc948c0b80ec1843c75f348d575e755","datavalue":{"value":{"amount":"+0.7574310898780823","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":"Q6498949$3338C843-97CB-4A4B-9606-04EE9D683073","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"69c39a52c245710f0cfef3a5889d8b7a8fdf96ae","datavalue":{"value":{"entity-type":"item","numeric-id":1722921,"id":"Q1722921"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7344419fded68fa2c537000f765ec61107689568","datavalue":{"value":{"amount":"+0.7551859617233276","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6498949$FFD66895-C5F5-4EA7-9C5D-0F23873C12E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3f63118759f8a34ee5c5cad2e5ddc3fe54836905","datavalue":{"value":{"entity-type":"item","numeric-id":6089777,"id":"Q6089777"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"98f1cf76fad7428b8f62e6092f048e479b75edf5","datavalue":{"value":{"amount":"+0.74318927526474","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":"Q6498949$8EB2F60A-5C95-4504-B51A-BF13F4F5576F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ec9ba220bf7b5c3f117054d0de51f79d1306526d","datavalue":{"value":{"entity-type":"item","numeric-id":6483835,"id":"Q6483835"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9f6318c91e410b03ee7c8d6a16e5ea8dafe85f74","datavalue":{"value":{"amount":"+0.7398871183395386","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":"Q6498949$6338A664-1E94-414A-8802-5AA863602BCD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"443acc062cc971c3706d5cca30f26c94da76ca40","datavalue":{"value":{"entity-type":"item","numeric-id":6537289,"id":"Q6537289"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"76c0789cc7ce2284ba33bde83055c5bf260e11cc","datavalue":{"value":{"amount":"+0.7298904657363892","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":"Q6498949$2EB31D53-4EDD-4559-B105-22E089C8ECB7","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6498949","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6498949"}}}}}