{"entities":{"Q674945":{"pageid":676794,"ns":120,"title":"Item:Q674945","lastrevid":46764156,"modified":"2025-12-25T13:26:20Z","type":"item","id":"Q674945","labels":{"en":{"language":"en","value":"Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 987782"}},"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":"Q674945$8A670C46-B143-4B33-9EC0-27DB5279BDD3","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"fd34e2d5875571953401c754a46bd3a8a7502494","datavalue":{"value":{"text":"Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q674945$A89B44BC-A6E5-4C00-AC8B-A1D4318C4C5A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d4aa66204b4bb7cceef64fc65e5bd38453168d2c","datavalue":{"value":"0867.93058","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q674945$84581812-B049-4DA7-A52F-138BAC9A099D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e1f1af305dae222cafa72bda4c539a441f35b640","datavalue":{"value":"10.1016/0005-1098(96)00087-8","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q674945$C66CD72C-53B5-4E98-852C-7A5DCAD9868F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$CBFE5580-C759-4DC7-BD0B-1207B02B81BD","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"6ec8c20900676bdc973f1dd224c2bbe10923a4d6","datavalue":{"value":{"time":"+1997-07-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q674945$3DFAAF78-6A13-43B8-A116-E819DBBD29C3","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"592e3b6b098fa2b370e01f53e72b708f3032ce09","datavalue":{"value":"The set-point regulation problem of a flexible-joint robot with unknown parameters (a set of possible values of these uncertainties is known) using only position measurements is investigated. The proposed iterative procedures guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. It has been shown that in the rigid robot case, the rate of convergence in each iteration can be made arbitrarily fast. In the case of the flexible-joint robot, the rate of convergence can be tuned by the user in some well-defined range, but can't be made arbitrarily high. The proposed algorithms are based on the global contraction mapping theorem.","type":"string"},"datatype":"string"},"type":"statement","id":"Q674945$5AEDBB94-38D4-424C-B80C-F66FAE67D4FD","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q674945$33AE2A7C-C203-4496-AC0D-1DA1AE39B37C","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"872bf355da7646ef527527b669df445d8062ea29","datavalue":{"value":"987782","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q674945$3A551380-FC54-449C-8FB6-D26DD826DA86","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b274f6ccd104cf7e3680bc58f6e55040fdb81b1a","datavalue":{"value":"set-point regulation problem","type":"string"},"datatype":"string"},"type":"statement","id":"Q674945$61FC5D9C-5653-4C99-9EE1-6C3EB3A02085","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fa0450193d99bc961a854f29d8dc5ebfe1be90a7","datavalue":{"value":"flexible-joint robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q674945$BB4910B5-EE38-46AA-ACF2-3E7472D36BA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1e2ab3f83c1279d67683c13498308ae2095bc2ed","datavalue":{"value":"position measurement","type":"string"},"datatype":"string"},"type":"statement","id":"Q674945$F954255B-F877-4D37-B010-47076A35B786","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cb7682b5b07e60db5fc762e2bc0e371913e8a08a","datavalue":{"value":"iterative procedures","type":"string"},"datatype":"string"},"type":"statement","id":"Q674945$2C68B446-EE1D-43BE-928D-FD02235176AA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"07833a2ecbd0b523a264c4cf4613766b395904d7","datavalue":{"value":"global contraction mapping","type":"string"},"datatype":"string"},"type":"statement","id":"Q674945$3BB0391A-FC59-4374-A125-C0FBC97D4DAE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"fe9ada42885f0525872a8daddaa979b464207621","datavalue":{"value":{"entity-type":"item","numeric-id":490845,"id":"Q490845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$7ECACE53-2863-426C-AA39-38D349A51CDB","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"ad0c48406c5f135483b65007ae07a100eaa649be","datavalue":{"value":{"entity-type":"item","numeric-id":353250,"id":"Q353250"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$75E837E9-D30A-4F66-80FB-1A5F3A9954A1","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$B4AF8BAA-E920-48E0-920C-F1D0B15E37C3","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"155b70d294cae3f6e3a0bf8262d6c253642e6478","datavalue":{"value":"https://doi.org/10.1016/0005-1098(96)00087-8","type":"string"},"datatype":"url"},"type":"statement","id":"Q674945$1014F172-C534-4DC9-86DC-F4475321B110","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"52dcd5cee11a41a94e1a049ab1e6d170077cafae","datavalue":{"value":"W2050229045","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q674945$FB274145-8462-4F1F-B2EE-8147E69C2845","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"3e17eb9d77e70c7d639e3b89f934cf0c2970b102","datavalue":{"value":{"entity-type":"item","numeric-id":1315966,"id":"Q1315966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$68457217-FF3C-4837-B4DB-93E638441866","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d9a6a151c033a79a476d6bbd505558d866189fb9","datavalue":{"value":{"entity-type":"item","numeric-id":1328019,"id":"Q1328019"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$E99F82F8-21AB-4596-891D-974E38283459","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4d56d1489466215d9828efdc8bcf03241df3536b","datavalue":{"value":{"entity-type":"item","numeric-id":4302751,"id":"Q4302751"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$D3AE7B58-3753-4146-882D-E04F386E9DEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c1607e963e508a58cdbd72a9ccd54ebf2db2032","datavalue":{"value":{"entity-type":"item","numeric-id":5202593,"id":"Q5202593"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$29EE09C9-ED32-4D05-878E-C875F0F2B80A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"93eae09014b5da334f38d4e30a5280a026195498","datavalue":{"value":{"entity-type":"item","numeric-id":4850487,"id":"Q4850487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$54E84D7E-C627-460F-B1EC-DA543D7B1969","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c9acd441c1cbc4dd22a67a37ff75a560df1cd6e","datavalue":{"value":{"entity-type":"item","numeric-id":3141919,"id":"Q3141919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q674945$C737EAFE-0445-4A26-9D0E-841299DEE366","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2d8fe710c346a57581096c0a5e3273d9ebae74ca","datavalue":{"value":{"entity-type":"item","numeric-id":674162,"id":"Q674162"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9b9d9ce4d0f8612f3f0f5f2c34ba6df6abbcfea2","datavalue":{"value":{"amount":"+0.8129206895828247","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":"Q674945$98808870-8940-4237-9981-0D1479E36CD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"10f1d2ddf3ca6cf1af8adc4ed1a6bc096e4e4e06","datavalue":{"value":{"entity-type":"item","numeric-id":1315966,"id":"Q1315966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c1da12808845e2c1ab01bd76d703eaa622508c00","datavalue":{"value":{"amount":"+0.7920513153076172","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q674945$DD8B0434-3ED1-4E6E-8AE2-CF92F7BA7731","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"78f1c5b0c34bdbd2b0a11ca6753f86f57fa5008d","datavalue":{"value":{"entity-type":"item","numeric-id":4894650,"id":"Q4894650"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0230303707ae951de6ca4c7001326712aedd1fad","datavalue":{"value":{"amount":"+0.7725290060043335","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":"Q674945$52A2F642-3499-44D0-A46E-AEEF5762EA6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7de9425c7173cfa769b49c7b3edfec0c5c8724ef","datavalue":{"value":{"entity-type":"item","numeric-id":1899568,"id":"Q1899568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9a8290f0e93adb4311e9d96133b658f29f3a7caf","datavalue":{"value":{"amount":"+0.7592644691467285","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":"Q674945$88A69420-AA55-4DF8-8E6F-3AAE4134FEF2","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:674945","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:674945"}}}}}