{"entities":{"Q920069":{"pageid":921917,"ns":120,"title":"Item:Q920069","lastrevid":65388345,"modified":"2026-04-12T02:14:38Z","type":"item","id":"Q920069","labels":{"en":{"language":"en","value":"Combined computed torque and model reference adaptive control of robot systems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4162758"}},"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":"Q920069$26238716-96FE-4E7D-A2CB-FE4446CF9B3C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"77b8746fb9ada6cab686c6045c9d70f64a8e8908","datavalue":{"value":{"text":"Combined computed torque and model reference adaptive control of robot systems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q920069$E7FE9036-F091-49A9-A8E9-8DEC741A3DC1","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0e4f00a785bfc9490e985af2b1ef1978c894dd41","datavalue":{"value":"0707.93039","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q920069$E15F632E-1ED8-4EC2-B74C-89FEF82F9EAB","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"9340ac350a03bd74fdf9048207dbdbe6d6740c12","datavalue":{"value":"10.1016/0016-0032(90)90022-B","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q920069$FB2796CA-50C2-4B7C-B0C0-D872B49053B0","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"55cbeac9e0a15334805576ac10f34880830fcdcb","datavalue":{"value":{"entity-type":"item","numeric-id":194556,"id":"Q194556"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$026E7FCF-2372-4023-A7C7-0BBD69FB028D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e113aa149c4e4fb64e4b5689b6b544fb79600557","datavalue":{"value":{"entity-type":"item","numeric-id":920068,"id":"Q920068"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$391C5FD8-C10F-4BDD-9103-FBA23F5B915C","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$BBAF3F5C-7E7D-446E-A584-584CA08D5B58","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"70d2fbf8bcd48a5ca1ac752985098b379d0dbb65","datavalue":{"value":{"time":"+1990-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q920069$7CD29867-CDEA-4A82-9EA2-C8101E05FE12","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"ef9b186d140d1556b613d947057055252fc2ed81","datavalue":{"value":"A new robust technique for robot control is presented which is based on a combination of the feedback computed torque method with the model reference adaptive control algorithm. The resulting controller guarantees perfect tracking for all bounded uncertainties if the correct state vector is available for feedback. The results are illustrated by a double link manipulator computational example.","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$DC6E5286-5716-42D1-9BA9-4C5189E4E81E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q920069$B51534B7-C8D5-4237-9827-56D6C665E240","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q920069$09262947-8D58-4388-A2DC-4C36840D1C3F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"559e9e993b5739992d837c78bb1ff74a483fa093","datavalue":{"value":"93C10","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q920069$DC3B0F7E-B3E1-46FE-BFC2-0E068FE396E8","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"89a9423602a4776ad87ada85457695405e8cd129","datavalue":{"value":"4162758","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q920069$171E21B5-4AB1-4530-9E0A-24E8AB808345","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"95c604ee4fe10718a1c315034191a6a93b886186","datavalue":{"value":"robust technique","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$993178EB-1B3C-4ADB-A4E0-840741DB2895","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"960fc0c758470d5194eed1ddd4e08c3c6a3258cc","datavalue":{"value":"robot control","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$E933844C-0F5F-4CF2-AB4B-9ADFABA37FEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2ee06a275095f95111cfb31f64f5e7ee70d5f0c7","datavalue":{"value":"feedback computed torque method","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$7E0FE14A-E7D3-4A96-ABEC-4D662CBB5AD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c0f9d873df3c18255a950b2c5d88bcef4d10dfbb","datavalue":{"value":"model reference adaptive control algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$A81ACED9-F5E8-4B73-A880-69735F257DA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"969951098b0db7a0ccb046f91654309250fb8dcb","datavalue":{"value":"perfect tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$1B294FBB-305C-43D5-B379-2EC45456EE24","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cba80ac5a88d75f7031baea723ccd34fcd57bb1c","datavalue":{"value":"bounded uncertainties","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$948EAB90-D079-4DEA-89FB-0CC9FA482A58","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fd68577c5db9546bdec5dfbccfcb2924c6006fb8","datavalue":{"value":"double link manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q920069$9D43B5A7-23ED-4BC0-BEED-7068EE2237FF","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"ba3bd21ea4f5f33470273cf863c8779c6fa10086","datavalue":{"value":{"entity-type":"item","numeric-id":297854,"id":"Q297854"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$BE620025-A2E5-426A-8D6B-FBBBE9EB4B3A","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":"Q920069$CDDCBA5E-ED10-4AC3-9551-B4AEF97A05F3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"69dbdc76dc4f16e40cbd2e7c238518e64e47cb62","datavalue":{"value":{"entity-type":"item","numeric-id":3931079,"id":"Q3931079"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$BDC31AE2-9ECD-43A6-8DA1-654A4D579EA9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"530fc345d7433a05984d2821a4fa44390080bc19","datavalue":{"value":{"entity-type":"item","numeric-id":796479,"id":"Q796479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$25E61503-C851-494D-8435-32E9A070C6EC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0e154b569d96a77103f09fd27d2d10497196d18c","datavalue":{"value":{"entity-type":"item","numeric-id":3682327,"id":"Q3682327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$966BD101-C3A5-4EEE-91FC-F14DB912F49B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"57134866e4be4a1769a901f8d39f13fc147aeb38","datavalue":{"value":{"entity-type":"item","numeric-id":3347759,"id":"Q3347759"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$93CF0EB9-7AE0-420E-8D85-01D4429C5889","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1518bd6c2b0397ca0b41a653b215fbebe4cef415","datavalue":{"value":{"entity-type":"item","numeric-id":3929636,"id":"Q3929636"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q920069$F0F4B7D7-7BC9-4BB8-A825-088C37D3A0C5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b73ac7577437d39fade4e0a2323bbb4134c16da1","datavalue":{"value":{"entity-type":"item","numeric-id":3758655,"id":"Q3758655"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"446418c5768fa1ffb1dbc7e004bcbe9f048c7ce3","datavalue":{"value":{"amount":"+0.942416","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$AAE2D8F3-B52A-4FC4-933A-0DA726F6AEBB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fbe0ca7218f1503f24c9e4d423a1ee85de74aa1c","datavalue":{"value":{"entity-type":"item","numeric-id":4731104,"id":"Q4731104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a6915fede24919e2ea70aaaf61ca86de9b76713","datavalue":{"value":{"amount":"+0.93581843","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$EAD0731C-CF31-46FE-B0BC-4947A61576EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1d462172bcbd0916ecd69be2f568892e8192559c","datavalue":{"value":{"entity-type":"item","numeric-id":2803382,"id":"Q2803382"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e7b05421a3e411caa7bb1d65fdc3bd2156f747c1","datavalue":{"value":{"amount":"+0.92857224","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$68E5862E-CA6E-4382-B17C-A11638FF29FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1df763aa660e12d8bac44c6ecf9a54ce8ff5b260","datavalue":{"value":{"entity-type":"item","numeric-id":1098810,"id":"Q1098810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b80b708bf21707fedc846772c7b3c3e810f2446c","datavalue":{"value":{"amount":"+0.9174566","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$908AE59F-2707-4626-9B0A-F716BC2C1FCA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ced2bc2900ab8fa1275c598d89445067d39b729b","datavalue":{"value":{"entity-type":"item","numeric-id":1175506,"id":"Q1175506"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6131e53bba540673e519353ef11b7efd64835cdf","datavalue":{"value":{"amount":"+0.91733676","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$369E5B30-CE0F-4915-88FF-529DE467C77D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"450e9a06d1622db9967d738382918afcedb722c9","datavalue":{"value":{"entity-type":"item","numeric-id":3820495,"id":"Q3820495"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"55a3f4fda6310099634cf51933cda157e625d9f7","datavalue":{"value":{"amount":"+0.9134238","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$D18CE835-264B-4C2B-8CFC-3B1549FF4572","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8b9cc46752cee865f99d1e7c2c4a5d522b1390e6","datavalue":{"value":{"entity-type":"item","numeric-id":911527,"id":"Q911527"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2eacbe1db28df9e3d3f07ad00e02fd5c6ac41ee7","datavalue":{"value":{"amount":"+0.90971917","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$C484958C-8DB2-4F01-9181-8CE549513AB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dec947350b942e822981ff2ad99e7f2882114844","datavalue":{"value":{"entity-type":"item","numeric-id":3763991,"id":"Q3763991"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e1c17a6e1e2d797ca0496c54fc70d4c82619700c","datavalue":{"value":{"amount":"+0.90901446","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$4D29A5EE-914C-4FF7-A72E-F2C65BBE8016","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4257233be5fdaae08e4c302d3fe8a36b896dc434","datavalue":{"value":{"entity-type":"item","numeric-id":4269733,"id":"Q4269733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1e7320e38dc58bc7da62eaa9b55e21031c2e06e9","datavalue":{"value":{"amount":"+0.9077985","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$832113A8-AD4C-4DEB-91C3-1FCAE441EE29","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"46eb7e066de8bd2389fe94fbfc2b5250bd2d14e7","datavalue":{"value":{"entity-type":"item","numeric-id":4269740,"id":"Q4269740"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2e0ecf9d742b1673116660547e6d6ada62127319","datavalue":{"value":{"amount":"+0.9070002","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q920069$B042E07D-06D0-4CCA-958A-4024E83D7AC1","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Combined computed torque and model reference adaptive control of robot systems","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Combined_computed_torque_and_model_reference_adaptive_control_of_robot_systems"}}}}}