{"entities":{"Q892516":{"pageid":894364,"ns":120,"title":"Item:Q892516","lastrevid":65139090,"modified":"2026-04-12T00:34:23Z","type":"item","id":"Q892516","labels":{"en":{"language":"en","value":"Robust tracking control for robotic manipulator via fuzzy logic system and \\(H_\\infty\\) approaches"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6511689"}},"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":"Q892516$894AFEF4-ACA3-40A7-AA17-A39DCDBA0ACA","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"96a7676c9c9dd7599e9c08aa2d5a7bcd59dac952","datavalue":{"value":{"text":"Robust tracking control for robotic manipulator via fuzzy logic system and \\(H_\\infty\\) approaches","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q892516$D1076AFA-3183-4626-940E-7B9481DB9898","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1c8bed7670ed296d68237043ae968db6bfc635ea","datavalue":{"value":"1326.93087","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$CD42E5CA-3887-495C-9AF0-EC3933AD3758","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"58d56625f988a3ca3029f4dad3e83ced531a1a3a","datavalue":{"value":"10.1155/2015/459431","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$375860ED-0C6A-4B37-B463-82F7568F2AB3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"43b2d8962ccb74abf61b571ee3f79a1cba5c3181","datavalue":{"value":{"entity-type":"item","numeric-id":892514,"id":"Q892514"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$F93B3A76-8540-4F0C-85C6-8B401F7EF6E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2e028687efd81bb2f81805cc19eff2d1768d5162","datavalue":{"value":{"entity-type":"item","numeric-id":454756,"id":"Q454756"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$058D3863-4FE9-4F01-887B-59109E90F748","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5a26b95456704821424ed33ad66c4d93bc241f1b","datavalue":{"value":{"entity-type":"item","numeric-id":892515,"id":"Q892515"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$F3729FC8-606F-4823-877F-D266FE79439D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a03aeadf0815a5a2a7f7c33a59472e3aac592cd9","datavalue":{"value":{"entity-type":"item","numeric-id":249794,"id":"Q249794"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$96C742FD-E9DD-43FB-A95F-BC7FEB5042D9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"390e76e3a1fc3fba4c5512200895e5fc04f72056","datavalue":{"value":{"time":"+2015-11-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q892516$8AE62EBA-AB38-40AF-904E-26A7C65579F3","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"016569454380bde1130fd6b416bd2f64a76d9b5b","datavalue":{"value":"Summary: Based on Fuzzy Logic System (FLS) and \\(H_{\\infty}\\) control methodologies, a robust tracking control scheme is proposed for robotic system with uncertainties and external disturbances. FLS is employed to implement the framework of Computed Torque Control (CTC) method via its approximate capability which is used to attenuate the nonlinearity of robotic manipulators. The robust \\(H_{\\infty}\\) control can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system. Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach. It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control. The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator.","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$30233E62-C271-4D1D-B110-FC66CE9A51CD","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$B79EBE7D-3104-42FD-B094-1623AB393DD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"30c44de7be251b06c724a821bfd07428e2a12118","datavalue":{"value":"93B35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$E858BA76-547D-48EF-8802-472C4A9BBC19","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b125fdee05db1e39c8992bbe40bd7c8cad591fba","datavalue":{"value":"93B36","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$22532DDA-97C0-410F-9956-8AC57785A1B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$F354F398-48B6-45E3-BEAE-4CC792510AE4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$3396D989-2194-4922-8F3F-C6995D2FC1B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"11589af38a539e8d8a84ef76007cad87372b080b","datavalue":{"value":"93D99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$FF99E556-4158-4353-B9BA-EAAA90B8E98C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0ad6448c9e3f2394361827e5c2d117e48dc71794","datavalue":{"value":"03B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$CCCCF7B2-D1A2-4A07-ACAB-86FF41D79F16","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9c9fdf557d100c993baf9332a86bdfb5dc4a7602","datavalue":{"value":"6511689","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$FAD4D699-65F4-401A-A323-A94FA4E09E10","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e64d9a5190abd0b84f036273f428533f5255122b","datavalue":{"value":"robust tracking control scheme","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$11C8A1B4-0A66-4C80-B6FB-94AED5C93709","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ff5f96b1b83886c919c089a752a5a11a57a7438c","datavalue":{"value":"robotic system","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$6B712410-F343-41F6-B01B-6DC81D106A5B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2cd6d78c51a8daab217d7e4eeee27a64361e7183","datavalue":{"value":"uncertainties","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$4D0AC47E-8929-4ACD-AE55-F4ECE872F8B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"aea9099e4850c52ae5894b43f27d6a9cdefc30ff","datavalue":{"value":"external disturbances","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$FA6DE2DE-56B1-469A-BE2D-B10AF235E129","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0a486ac3ad531a93a72356ac4f8c9bb2485bbc2c","datavalue":{"value":"fuzzy logic system (FLS)","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$101732C4-3F8F-4407-87E6-D2A09CA235F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"840560d29e020efc77c77bdb76f174ffe3ef99c5","datavalue":{"value":"\\(H_{\\infty}\\) control","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$443DF253-E5B5-4BD9-BB27-1381CE4FA87E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"48d526cc062a7adf792d73718762b7ebc375eacd","datavalue":{"value":"nonlinearity","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$C88EA777-78F2-4905-8DBB-02F29D923B3F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"749748fdc1cb9d4be90056975fbe75d4f4e619a9","datavalue":{"value":"robotic manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$672DB0DC-4BE5-4C5F-B501-F97F6956B982","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1791c5934eaa207c92fc4647adb80b9fc8ed53dd","datavalue":{"value":"quadratic stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q892516$BDC68D5D-0891-4B9E-9A72-E2B8753841DB","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"5a91953bc9a6eba46f72bb5ff848ad7daee66b23","datavalue":{"value":"Q59112413","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$290671B8-4EE3-459F-B1B9-C78FB719FE81","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$A87EDAD1-3614-4EDE-8C7D-E8F14BEB1930","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"abe2270d2cf39a9fcf4f67dc2c1653a7fc352102","datavalue":{"value":"https://doi.org/10.1155/2015/459431","type":"string"},"datatype":"url"},"type":"statement","id":"Q892516$ECC1E73A-EAD7-4EC1-9D2E-FD12030709A8","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"805b1ebc208f39b5eecc926f50f65de7d02604f5","datavalue":{"value":"W1971681933","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q892516$72E0B55C-2763-49B0-9DF0-96FDFC276C1A","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"b1c05c078d505054bec303f73c3826256d1509e7","datavalue":{"value":{"entity-type":"item","numeric-id":4749720,"id":"Q4749720"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$9187FA92-1231-44D1-878C-C5D7328CAF9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8d4a2f2b4fb379388737c244139edd6058756eb0","datavalue":{"value":{"entity-type":"item","numeric-id":1098810,"id":"Q1098810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$9C27BEE4-00BE-4425-9247-CADCEB924ED5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8993621ab2cb5fe99a4dcb89be4f817c309dac1c","datavalue":{"value":{"entity-type":"item","numeric-id":2386224,"id":"Q2386224"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$81489C9E-DB73-4026-BB52-E448A3CDB391","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6c9962114bdcaba95540027921d9bf71254d4b7f","datavalue":{"value":{"entity-type":"item","numeric-id":2249334,"id":"Q2249334"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$CC8EDEE8-E666-4C2F-B24F-4C361AEBE8C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d3fe87936865ef807ace02768f4c048b82e125fa","datavalue":{"value":{"entity-type":"item","numeric-id":3772063,"id":"Q3772063"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$992795F9-7A44-4BD8-851E-01BF1539E0AF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"51f99a82f0da165d80e3db5bd1c5cee3170d9fa8","datavalue":{"value":{"entity-type":"item","numeric-id":4585606,"id":"Q4585606"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$89DC0ACC-040E-4B89-9690-E740C7E31D68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"50bd2ae95e04380bad3eb98ac1570c18f88d63f6","datavalue":{"value":{"entity-type":"item","numeric-id":988414,"id":"Q988414"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$502B8BED-1355-4F3D-B8CA-31796331BB2D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0fa4752a0e5f5e4772fe476faf394ba4e1f32ceb","datavalue":{"value":{"entity-type":"item","numeric-id":2434144,"id":"Q2434144"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$7D5DFBD9-27BE-4D3B-ACA9-C2C5EBE9BBE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"81e6080fa52a591329b2259c6c21dbfd5d0733b5","datavalue":{"value":{"entity-type":"item","numeric-id":2353757,"id":"Q2353757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$136E29C1-EFB0-4356-A14D-6201E5659ECD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$B6A84239-8C36-4401-A2D6-6583A6ED4BBF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"26def4b820782622cdb2799a732383af4f63bf82","datavalue":{"value":{"entity-type":"item","numeric-id":1720952,"id":"Q1720952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a78ebc76a7da8a7a78b122b7ed044e6063f86cce","datavalue":{"value":{"amount":"+0.8807343244552612","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":"Q892516$AC57363E-0E47-4F87-82F3-EAB5041578C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"010445d3260023dfb79e748be41e205d4e2f8a1d","datavalue":{"value":{"entity-type":"item","numeric-id":2205298,"id":"Q2205298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2f3772049902c91254f867a4377424ad87c76b51","datavalue":{"value":{"amount":"+0.8419695496559143","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":"Q892516$445E4B7E-844C-4CFC-BA31-A7F3B1AE67F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e520f2afeb03f090b8d48a0656c36d06e1e386f2","datavalue":{"value":{"entity-type":"item","numeric-id":2249334,"id":"Q2249334"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ece9c88a971243a7ec8df104c74a4c7cc4d77bd5","datavalue":{"value":{"amount":"+0.838647723197937","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q892516$AB847737-D05C-48E8-A42A-72349727D3CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"52d3342fdf06e8cdc6576f7a1794f9cd1bb21056","datavalue":{"value":{"entity-type":"item","numeric-id":2386224,"id":"Q2386224"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"282101098e7011c6a6fca02142f858790d37a2f1","datavalue":{"value":{"amount":"+0.8350678086280823","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":"Q892516$894C2D3D-1C78-4BBA-972F-E190043AFDBA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"38a53da7bdf1c2014d4d852291820d3fc4bd3dea","datavalue":{"value":{"entity-type":"item","numeric-id":2434144,"id":"Q2434144"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"29dbdb795973d49858ba75af7e9802dd80f49b49","datavalue":{"value":{"amount":"+0.8325992226600647","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":"Q892516$9D512D57-4997-4DFB-9299-22F82207666E","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"daf5f856a5d861312ad309ab567540337a5f61d6","datavalue":{"value":{"entity-type":"item","numeric-id":57050,"id":"Q57050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q892516$B38228A0-92D3-4EDA-BF57-C858CCE026B4","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Robust tracking control for robotic manipulator via fuzzy logic system and \\(H \\infty\\) approaches","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Robust_tracking_control_for_robotic_manipulator_via_fuzzy_logic_system_and_%5C(H_%5Cinfty%5C)_approaches"}}}}}