{"entities":{"Q331301":{"pageid":333068,"ns":120,"title":"Item:Q331301","lastrevid":61063425,"modified":"2026-04-10T20:56:45Z","type":"item","id":"Q331301","labels":{"en":{"language":"en","value":"A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6643992"}},"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":"Q331301$0F53A778-6A8E-4241-9F5C-B4D9D5999A78","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f9c04bba3f38ddefb57fc03272305a2ed2c7c4f3","datavalue":{"value":{"text":"A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q331301$EA3B65DA-EACA-4868-B428-7D24D438F17D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cd152f35b3025d301c739b33225da0379c2d1056","datavalue":{"value":"1349.93282","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$F1BFF03F-17B8-4732-9241-EDF6BF0E897B","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"fe7ca894e96d6b98b9fb3aebe1b2860b10fe3983","datavalue":{"value":{"entity-type":"item","numeric-id":331298,"id":"Q331298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$0138E048-B64F-4F46-A948-6AF2CC9DCCA0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"08984c06a005e689e8b0c93f8f7a32211e8e28cd","datavalue":{"value":{"entity-type":"item","numeric-id":331299,"id":"Q331299"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$DFBEADC2-5BF3-4486-881C-ABA67E8B10C2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"24ce983b0a1fa58e6db38212b47b6c9de9194510","datavalue":{"value":{"entity-type":"item","numeric-id":331300,"id":"Q331300"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$961F4702-CA37-4B8C-A039-8B6741414EE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"10640f7b5b954a0124ca692dcc10a40d0282d253","datavalue":{"value":{"entity-type":"item","numeric-id":1793251,"id":"Q1793251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$281359AA-14FC-4060-97A1-81D4C9BBC6A9","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$404AE2D7-A5DF-46BA-BD85-06D3B5F902B9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"0574adb538516c2b7c4431a66143362574f3a0d0","datavalue":{"value":{"time":"+2016-10-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q331301$F6AD3D23-569F-425E-98D7-7F100564A3D9","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$190A6785-0178-42AC-8F0B-8A54D3E463B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$FEEDA258-BA0F-43D4-89E5-0D8A44666618","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e134fa16ab2f5a6350ceac50979452dda7b0aefa","datavalue":{"value":"93B18","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$5ADC94BE-8BB6-45CA-9B1C-3B6F3F779153","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"cda039453f35395c3231b74a5eabbf4ec89e643a","datavalue":{"value":"93D21","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$4F6A3001-0DA4-482C-8A36-89C38ED21225","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"1a5416d48b2463f57cbb72e487b7a4aa5d753d3d","datavalue":{"value":"6643992","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$5385B8AE-3E23-45E4-9F17-3D38A7BAA389","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"239e938d649ed2e6d359a6bce57670358de7b763","datavalue":{"value":"small-scale unmanned helicopter","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$C3EAD522-AAAF-4203-9AD2-C503E4DE8A96","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$CFC1389B-1E7A-4E86-83ED-1566A4A963B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"15413d864f8f64cb13637a6836c3ddb30c90eeef","datavalue":{"value":"feedback linearization","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$D06D648A-BA5E-4875-BB1C-25B5BCC18ECE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9e71d1c5ab288fa3d59ea93118c8fbcb84ac5038","datavalue":{"value":"enhanced nonlinear disturbance observer","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$3C59EBC6-D830-4E71-BDA4-3B95D1953958","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b4c44b7d6f5ed0c3e7b3a654cf5f98c8c55f64d0","datavalue":{"value":"mismatched disturbance","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$40592B2B-297F-4838-AC46-F50DD09B8982","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d34e31f56c05bfc67a7374358e5bdfe69e27e4eb","datavalue":{"value":"chattering attenuation","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$6BE1F343-6499-4190-84F5-794691A8F9FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0c3e571db9a9b0e79b153721c9f728b9a3200657","datavalue":{"value":"uniformly ultimately bounded","type":"string"},"datatype":"string"},"type":"statement","id":"Q331301$EAE02FE3-D3DF-4AAF-B53F-1FFD88B9C73A","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":"Q331301$08468E66-1DFB-464C-852D-7E195AEDE8FF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"239a97d8918d0925dd1e45e81ff62c146fa12eca","datavalue":{"value":"https://doi.org/10.1007/s11071-015-2387-4","type":"string"},"datatype":"url"},"type":"statement","id":"Q331301$A331D386-D246-485D-B3E9-3326BA8337B4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"3f163508157efacde78aaa2dbbf9be9a6731e6e3","datavalue":{"value":"W1726648449","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$F0DD1777-9040-4178-8959-C890987845BF","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"ca5cc56f9e8c7f19643089ba8bc7823128700b66","datavalue":{"value":{"entity-type":"item","numeric-id":748031,"id":"Q748031"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$D9D07CAD-31DB-49C2-8E2B-76D9624D21BC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3fe0277c333088bfe86b10c4fbf0dd8f3ab50625","datavalue":{"value":{"entity-type":"item","numeric-id":2346241,"id":"Q2346241"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$13BCCEE3-913E-459E-8165-23ABA98ABD85","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"003e1608d2c48f0668b3f9da936c892aaa9b30e3","datavalue":{"value":{"entity-type":"item","numeric-id":2435679,"id":"Q2435679"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$12BF71C7-C5A5-4055-95CB-30BCD97B8781","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d5595e36aa583298f0912434a425f9c6ebd8f0e5","datavalue":{"value":{"entity-type":"item","numeric-id":5405732,"id":"Q5405732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$5F8A5927-2D6D-4DFE-9FFF-FC0F9345C244","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5e45aec10c12b22319e4f7c1ecdf3f35052f898b","datavalue":{"value":{"entity-type":"item","numeric-id":2790020,"id":"Q2790020"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$16C48E25-2938-44A3-8B6E-8A7D2540EFFF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fc8f56d857b380cd914ec5d0cf57019b829d93e5","datavalue":{"value":{"entity-type":"item","numeric-id":3552384,"id":"Q3552384"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$60CDF59B-F85B-4375-B49E-8DCCCC4CD176","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ffb646c4eb4a5f6f34f290e11dffd692f392f23","datavalue":{"value":{"entity-type":"item","numeric-id":1933458,"id":"Q1933458"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$A2A6DDCE-8F9A-4552-96D5-134EF4C0938B","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":"Q331301$2332AD19-D77C-434C-981C-6D2F1F3AA897","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q331301$A8DABBD2-D279-4CE0-8C33-506591A7DFAD","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"c5ee8b171eaecc37b6ff5dfd1204e44b1814f8fc","datavalue":{"value":"10.1007/S11071-015-2387-4","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q331301$4A6C6AA4-05E0-4280-8525-B2AF580FB69B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fe0ca19cc533402aac9583368eb85d65062a588e","datavalue":{"value":{"entity-type":"item","numeric-id":2992481,"id":"Q2992481"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1a7ae7fc916e2ae6681e7158e1ed3955561c49e8","datavalue":{"value":{"amount":"+0.9109434485435486","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q331301$C02779E9-A253-4D3E-9DB0-A84BD72F906E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aec205ac6d3d1c72cea7ed94f97faa4996e91da2","datavalue":{"value":{"entity-type":"item","numeric-id":5227240,"id":"Q5227240"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3ae27d657dcdc3b2f2bc6abe9ec55f5d94514190","datavalue":{"value":{"amount":"+0.8829554319381714","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":"Q331301$5913900E-5C9C-4CDA-818A-D1521C195491","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b231aefb0f6e6f54fd91fc8e6c83205b08fe3fbc","datavalue":{"value":{"entity-type":"item","numeric-id":344673,"id":"Q344673"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"879367cfdf35a6e6e88526bf70a9abca92bf8466","datavalue":{"value":{"amount":"+0.8719720244407654","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":"Q331301$3C063539-A3C6-484B-B268-A441A5FC6BED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"97588cc41b3fbb7a3c72187cfd3fc4ce247c2720","datavalue":{"value":{"entity-type":"item","numeric-id":1738548,"id":"Q1738548"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d1f904f793e6116f73ac0df6817b7c384ce9a1d0","datavalue":{"value":{"amount":"+0.8601199984550476","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":"Q331301$5E2EBA64-2574-468A-9919-8D888E6C3AB2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8412537c765950934ab3b02e0004df38fca655bc","datavalue":{"value":{"entity-type":"item","numeric-id":1797174,"id":"Q1797174"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"41e6b6952595219b825be4da7a9ed2ae67cef4d6","datavalue":{"value":{"amount":"+0.8523098826408386","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":"Q331301$93CEA533-F2E0-4F2C-B61B-9264F827812A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_novel_sliding_mode_controller_for_small-scale_unmanned_helicopters_with_mismatched_disturbance"}}}}}