{"entities":{"Q718799":{"pageid":720648,"ns":120,"title":"Item:Q718799","lastrevid":63897123,"modified":"2026-04-11T16:17:13Z","type":"item","id":"Q718799","labels":{"en":{"language":"en","value":"A switched controller for an underactuated underwater vehicle"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5950460"}},"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":"Q718799$276A9D1E-AA80-4D5A-BA9B-A59870FEA515","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"73dbc167cad5e0b741d549ab9ce9eb30afc9a62d","datavalue":{"value":{"text":"A switched controller for an underactuated underwater vehicle","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q718799$7130C0E9-0643-42DD-BDB8-653FB078E1BC","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1aa092d9fad72dd8eb971a4830d522b8f2f39636","datavalue":{"value":"1221.93232","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q718799$C34E60D0-F7C6-40F0-9745-20D495766309","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e95935a4efe6adb6757a0a4a2b8324fce7e1d021","datavalue":{"value":{"entity-type":"item","numeric-id":490621,"id":"Q490621"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$801A69E6-0F59-4B41-989B-A5391EC481E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"121e24da71331e675341c07466717d17c47092d9","datavalue":{"value":{"entity-type":"item","numeric-id":389781,"id":"Q389781"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$446915B9-5655-47B4-B5E8-5125834C4A21","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"daa2a419a406af0d3fb75c9a3e97f12b42bb41d7","datavalue":{"value":{"entity-type":"item","numeric-id":2492019,"id":"Q2492019"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$E80EE32C-04FF-434C-B93E-E55A193CF4D7","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"808a8c67e6fa2e90fc8ccd13eadca038054e6a2e","datavalue":{"value":{"entity-type":"item","numeric-id":186646,"id":"Q186646"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$DEAEB92A-42DD-4FB9-B924-8B7A970025AB","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"02b2e54b630c87ee3bd0635144b192c6e48e150a","datavalue":{"value":{"time":"+2011-09-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q718799$5CD5A68B-24A6-4AB4-9AC8-1841B04D11BE","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q718799$A1341550-3C5A-4E75-8E44-C07C63CE0511","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q718799$1B499CAA-7EB6-4B9E-B5F0-CFF0957D3C97","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a125d3ddad5cb6cfdb720ff7683a29bbd570dd1a","datavalue":{"value":"5950460","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q718799$30C9E5C6-C5C6-43F8-ABC7-59BF0387CAB3","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"19dc617dfd086b0a01fd5157cfd9f628e8b37ba6","datavalue":{"value":"nonholonomic","type":"string"},"datatype":"string"},"type":"statement","id":"Q718799$35DB8E0F-F23E-423F-9633-1FDC1CE9F440","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"63283cf2f89e96e05bd5c63802ebc9f7db2e5229","datavalue":{"value":"underactuated","type":"string"},"datatype":"string"},"type":"statement","id":"Q718799$F01B6E30-2CA1-4F84-9D00-B910D7A89D82","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c4dd7239ed6f85d7a46f491f461fe3c028f5049d","datavalue":{"value":"discontinuous stabilization","type":"string"},"datatype":"string"},"type":"statement","id":"Q718799$56077449-BB1A-40B6-96D4-F99EDD14B85F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d09b3805cfc7c3f4c50a588301bbf0b43b73a341","datavalue":{"value":"finite-time controllers","type":"string"},"datatype":"string"},"type":"statement","id":"Q718799$C3E3827E-C69E-46B5-82E5-001D6BAA7EDD","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":"Q718799$2E77E0B5-51DA-4FDD-B2DE-AFF93F63DF23","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"2b74257d797d858810c8aa0f98059749d6c372da","datavalue":{"value":"https://doi.org/10.1016/j.cnsns.2007.07.004","type":"string"},"datatype":"url"},"type":"statement","id":"Q718799$318822E1-6C61-4AA1-97F5-96E3F00C51F9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"56deb7865c4260942bd30de998843134727d7f68","datavalue":{"value":"W2050013654","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q718799$67368EE3-1DC0-45CD-8C8C-9C6D79E62C3E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"04bd2a2e2e67f2a4b7a437347f1913dfb98704c1","datavalue":{"value":{"entity-type":"item","numeric-id":4506892,"id":"Q4506892"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$2EE3CA3E-75FA-424C-9602-EEBAC0032BF2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d42f5bbdfb031bb1f23a7cffc7df3d641f064e7c","datavalue":{"value":{"entity-type":"item","numeric-id":4954327,"id":"Q4954327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$A30B625D-ED1F-4BA6-BAEC-123F29586A00","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2146437f7fe10ea99f27930aff2f397bf658311","datavalue":{"value":{"entity-type":"item","numeric-id":5267101,"id":"Q5267101"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$B12E436B-F3B4-4715-8A37-F9910BF8D1B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6834cb862d505dd0478e3c87220e070812d143c0","datavalue":{"value":{"entity-type":"item","numeric-id":2492020,"id":"Q2492020"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$5CEAC066-5EAD-4F8B-AD9D-F4BF4BC6E043","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"12db3edc0871f0c71a832fc56e56898c33daba1f","datavalue":{"value":{"entity-type":"item","numeric-id":1388122,"id":"Q1388122"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$6246265D-6F26-4DEF-BA83-FDB61A8727FA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"408ddd20bf57c3863f4b16a72d48d54c185be0b3","datavalue":{"value":{"entity-type":"item","numeric-id":3309568,"id":"Q3309568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$C10EA6DA-364C-4174-916C-CC4ABC0592E1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6bc7f418095b2f74709b2c3455f155463df808de","datavalue":{"value":{"entity-type":"item","numeric-id":1960636,"id":"Q1960636"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$C6CAA5AB-9C4B-4534-B147-ED888BDD740C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1fd47fa1fa36ee3f76193c3d9b3130c84ee81a2f","datavalue":{"value":{"entity-type":"item","numeric-id":5958486,"id":"Q5958486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$4FA8A295-1571-4D52-9E30-5EF68CB56A1C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7410f2fcc930ef11789cf05c65aa73279be6f958","datavalue":{"value":{"entity-type":"item","numeric-id":1853427,"id":"Q1853427"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$EDDC0E9C-F380-4647-A203-F656945AE934","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"456cba106764aaa05396536d6d181b7e81124e1d","datavalue":{"value":{"entity-type":"item","numeric-id":4943739,"id":"Q4943739"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$242BDA87-5B56-495C-9ED6-A613793ED9D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cc26465e1abdc6519e5e5b08312701c3ddc6dff0","datavalue":{"value":{"entity-type":"item","numeric-id":3741494,"id":"Q3741494"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$71C8D795-EF3A-4DA8-AF41-8A5A13AAD7A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fb11a071bb6ebcdb677ac644df9ed13c0a05339d","datavalue":{"value":{"entity-type":"item","numeric-id":880407,"id":"Q880407"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$17BF0F68-C8D8-48E0-B0DA-0C7D758B6918","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"75a9e68a711d9b8c8690fa16a127f2323a3d7ab7","datavalue":{"value":{"entity-type":"item","numeric-id":4160779,"id":"Q4160779"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$A19BF5C8-DAE0-4CC3-9539-C7CCC0B8C667","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9d62b1b7270725ccc2a214f56418f6aed48dbbe4","datavalue":{"value":{"entity-type":"item","numeric-id":4400237,"id":"Q4400237"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q718799$CFF86A71-7F9B-4ECE-BEBC-0DFAEAB8F13B","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6b91cb97320a496a98855292421083dcf65b41fb","datavalue":{"value":"10.1016/J.CNSNS.2007.07.004","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q718799$B120DC98-2A8E-474A-80AC-B09876DC402D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a38a8d362c6d9ca4d6f8890a56067eb6452d85da","datavalue":{"value":{"entity-type":"item","numeric-id":2477696,"id":"Q2477696"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c9260dfd3b543c9e3d321fe3bffce62ba12de52b","datavalue":{"value":{"amount":"+0.7988497614860535","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":"Q718799$A0D5DBCC-902C-4B8B-AA41-7762EBDE1885","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5216c569ba8a9f6472e4602258c10667632c7775","datavalue":{"value":{"entity-type":"item","numeric-id":5439868,"id":"Q5439868"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"74132ce8535cb1ac9a2a95337a99db642f274741","datavalue":{"value":{"amount":"+0.7910839915275574","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":"Q718799$03BB2553-6916-49CF-A5B3-BDE84470D391","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"477a97a1301aa26d3b694471a626748697a8ab3e","datavalue":{"value":{"entity-type":"item","numeric-id":5958486,"id":"Q5958486"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"608721e23e23f97c042b206f662fabe5f5e1ddb2","datavalue":{"value":{"amount":"+0.7900171279907227","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":"Q718799$4AE5C53D-5497-4F0A-A20F-41E7E6178FD7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"019c0f68b962edba874b8140e0d275598e3d39a4","datavalue":{"value":{"entity-type":"item","numeric-id":3592346,"id":"Q3592346"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3925a06e725f221b746f8e6e7a08e2b5b4b2a01f","datavalue":{"value":{"amount":"+0.7880593538284302","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q718799$B3098E78-A9AD-4BB8-873F-EA3E45DE2DD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86660b9ed3cc2c11ed12eba93cc0f292cb0e1b0a","datavalue":{"value":{"entity-type":"item","numeric-id":1426273,"id":"Q1426273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"acca507546b29be69ece37abdccb88c29c80c29f","datavalue":{"value":{"amount":"+0.7775235772132874","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":"Q718799$5E36060D-6222-44ED-9652-02AB8C9009D0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A switched controller for an underactuated underwater vehicle","badges":[]}}}}}