{"entities":{"Q2159974":{"pageid":2170717,"ns":120,"title":"Item:Q2159974","lastrevid":43621002,"modified":"2025-10-31T10:15:38Z","type":"item","id":"Q2159974","labels":{"en":{"language":"en","value":"Hyperbolic tangent function-based fixed-time event-triggered control for quadrotor aircraft with prescribed performance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7566315"}},"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":"Q2159974$CE7F87E4-8D87-4D99-BA1C-BA69575DC57A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f307bb4b54d7e9c62f276e6849aa3b8168a32d66","datavalue":{"value":{"text":"Hyperbolic tangent function-based fixed-time event-triggered control for quadrotor aircraft with prescribed performance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2159974$D6FE09CE-9232-4215-98C5-1006E0D61BAC","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a34dfb67c559c59788b559f91018d3ae8494b724","datavalue":{"value":{"entity-type":"item","numeric-id":286825,"id":"Q286825"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$89EAB3B8-4AF7-4964-A3E2-7E3FCE685A03","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"55d702cee7e2eb4af30822d90e74822db7b617e9","datavalue":{"value":{"entity-type":"item","numeric-id":235778,"id":"Q235778"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$9E2F267A-5113-4879-BE79-33924C18B2C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f075984b06fa1222731675a7f8b3b9895625d325","datavalue":{"value":{"entity-type":"item","numeric-id":460494,"id":"Q460494"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$59EB79E9-C94C-4F0F-BEDC-832765716764","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":"Q2159974$66959BF4-DE41-43EA-862B-0F7BFD0A8520","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"ad9afbe138412ffaaaf6109d22a748c988081a7b","datavalue":{"value":{"time":"+2022-08-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2159974$A24BD69F-2CA4-46C4-8546-7547E2AC02B5","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"0d5eef6e848157326ce3189563feefa6213bff81","datavalue":{"value":"93-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159974$FCD6E8DC-18B0-4334-A765-EFFC385D721E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"53aeb1fcbd2f0d31715f68f8c0d9430ea394bc21","datavalue":{"value":"94-XX","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159974$EB14C041-A76A-47C5-A2F6-D715D52CAA5D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"57bd63b61c0c21e76329e86825844b72ab2d9dd9","datavalue":{"value":"7566315","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159974$1057ED4B-7E06-497B-8658-ED2E39BE3C22","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"51c404e98f85f13366c8b1b3d1ecb5796db7aee9","datavalue":{"value":"Q115570641","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159974$505AC7A5-CCCB-4B72-9185-5FBF07BF0408","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$B35B582D-E2FB-4F20-9CBA-7F48764C8F23","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"4cc8b142a536e18cac60e76eed7ea691ad942b1a","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2022.05.054","type":"string"},"datatype":"url"},"type":"statement","id":"Q2159974$316AD9F9-6B51-452A-B019-6264041BA431","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a309f302d0a23bde304ead9dfad9f9d80f3e02ed","datavalue":{"value":"W4282983508","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159974$2D73B5DC-2FE2-41C0-A409-092791B2E989","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"bd005898786055d49f11d6eeb27e5b492937b259","datavalue":{"value":{"entity-type":"item","numeric-id":2217567,"id":"Q2217567"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$CD6888BA-742A-48A8-9CBF-6017576D6110","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a02a763d26d852467f05184b864d0181587e184","datavalue":{"value":{"entity-type":"item","numeric-id":2520645,"id":"Q2520645"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$30D39CF4-E3BD-4922-AABC-E9D87A7ED045","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b2dbd0ec84ee4cfb4da3f6c7c7f7527b0e235035","datavalue":{"value":{"entity-type":"item","numeric-id":4974342,"id":"Q4974342"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$08E45567-2BC2-4A8B-9CBF-5EFEEFBDD9C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"589e26c9d22ab8767d8dbf5fb940192f05cdc4b5","datavalue":{"value":{"entity-type":"item","numeric-id":776060,"id":"Q776060"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$5E3142F6-01E5-4BDC-B9EA-0AB36ADDEB90","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6b05b386be00b8614efe13d4d314ef6053cd6c94","datavalue":{"value":{"entity-type":"item","numeric-id":5352922,"id":"Q5352922"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$AB75D24A-3DD8-480A-AFC5-E946DB5016B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"be71ae5c771a59ba228486289baa71672a3027fa","datavalue":{"value":{"entity-type":"item","numeric-id":646457,"id":"Q646457"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$4B3C6AFD-E5FF-424A-A2AB-A628A2DA13A9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59ab269a7ebe8c431483f9871158f7bd811a454f","datavalue":{"value":{"entity-type":"item","numeric-id":5223822,"id":"Q5223822"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$1DCF156D-FF1B-4FD5-AE67-3A9D59ABB12C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b0785246a13bd79e2114d295bbf4571ff5c4401a","datavalue":{"value":{"entity-type":"item","numeric-id":2423956,"id":"Q2423956"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$6D8EC561-18EA-4B4C-BF6C-8635EF6E54B9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2a1d322bc9d1c53aec63d549c9deb9523bfe709b","datavalue":{"value":{"entity-type":"item","numeric-id":2407158,"id":"Q2407158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$6D3521E2-6901-4194-A6FC-D3804A3431B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"73cff3934b9dffe1e2da40fecac75bc08d24bf8e","datavalue":{"value":{"entity-type":"item","numeric-id":490843,"id":"Q490843"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$AC71CB2C-DCB6-402D-A406-CD5EE53BE65B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bf5db6140478e4d723a1724f9729b390cd3c10d7","datavalue":{"value":{"entity-type":"item","numeric-id":1626956,"id":"Q1626956"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$12F0167A-3C60-4D26-9279-5B5E652DF46C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0514f122b0e95df6c1d7a59f64c821889aa4a536","datavalue":{"value":{"entity-type":"item","numeric-id":522811,"id":"Q522811"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$DC7942D9-F9A6-4A60-9659-804A7D9E49AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef4282711191e68efa495b7a6e675a41c2747685","datavalue":{"value":{"entity-type":"item","numeric-id":4685307,"id":"Q4685307"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2159974$E169052E-E3F1-4E4F-8CB9-234C081450E7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"eded994564da06feaef2a5f31a8773b269456326","datavalue":{"value":"10.1016/J.JFRANKLIN.2022.05.054","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2159974$3438F053-865C-430C-85AA-D8C706614162","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"feb7f75e18dd60120049a3f8171304b73c63b871","datavalue":{"value":{"entity-type":"item","numeric-id":6092391,"id":"Q6092391"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bbee55b8b4f08ba22b5a600a86b753592000ec7c","datavalue":{"value":{"amount":"+0.8765171","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":"Q2159974$909BD03D-B42F-42A6-BFBC-9FC8EB4A9BF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b07afc5e28692123523ce1d3b8489797e689ba4f","datavalue":{"value":{"entity-type":"item","numeric-id":2698273,"id":"Q2698273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b5d85973ab25f874f768d85086c8c495b489b7d8","datavalue":{"value":{"amount":"+0.8677053","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":"Q2159974$9EAAEEDC-7FC6-4CC8-9EDE-5FFAE36174F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"df598dae883d174527f78b59073253f83af6c596","datavalue":{"value":{"entity-type":"item","numeric-id":5209312,"id":"Q5209312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"56b74734257cb5377e6ca7ab1ea188eab15f71d8","datavalue":{"value":{"amount":"+0.8615448","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":"Q2159974$9C121EA5-FF27-4525-A95E-2ACB09CCDBD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"de67836b658c03b6f38c805395617c197fe9d090","datavalue":{"value":{"entity-type":"item","numeric-id":1991810,"id":"Q1991810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d01b9f901b3869c76c96b402706107393a50cafe","datavalue":{"value":{"amount":"+0.8596456","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2159974$F3261839-5F62-4BC7-B8F7-5FCB33C24DE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a915fdb775f6bd12423fe050efbc2f265c3980f1","datavalue":{"value":{"entity-type":"item","numeric-id":6072733,"id":"Q6072733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bb7afae32821fbe6254a3ca9e4bc6581c9203a7a","datavalue":{"value":{"amount":"+0.8569025","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":"Q2159974$C5F544DF-8ACD-442C-BEC6-3658CBAA6650","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"69a50d1175037cf59ed0c2b1b01de4c47e95229f","datavalue":{"value":{"entity-type":"item","numeric-id":6040948,"id":"Q6040948"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"26a021883c5409018555310d08668b8f6129cc73","datavalue":{"value":{"amount":"+0.85369456","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2159974$CC3A7B12-45A2-4AA1-8603-422E9CCEF7C5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3a4328c0e758b2a568bbe804302068e35b3d456b","datavalue":{"value":{"entity-type":"item","numeric-id":6092375,"id":"Q6092375"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5db463b8701760408b95bbc9f9468cbc2d2f4156","datavalue":{"value":{"amount":"+0.85334134","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":"Q2159974$9A005821-1ACE-4148-A362-42782DF4F907","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cc92291935f75be69f5ba3f9f8e787e6fb2e83ab","datavalue":{"value":{"entity-type":"item","numeric-id":776060,"id":"Q776060"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"61603f1557a79a5c0913e3de2d45449946451c47","datavalue":{"value":{"amount":"+0.85323185","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2159974$DE880A71-4670-4D1F-A970-BEDE84360AEA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c369e2ccd72c1086ff8681910017a02583027992","datavalue":{"value":{"entity-type":"item","numeric-id":2094936,"id":"Q2094936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d2762f54a17643a36fce6e809db195f86b021811","datavalue":{"value":{"amount":"+0.852609","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":"Q2159974$220DFE03-9252-433A-ADA8-431A8F07676D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2159974","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2159974"}}}}}