{"entities":{"Q5348286":{"pageid":7377860,"ns":120,"title":"Item:Q5348286","lastrevid":41690314,"modified":"2025-05-07T06:48:00Z","type":"item","id":"Q5348286","labels":{"en":{"language":"en","value":"Nonlinear hierarchical control for quad-rotors with rotation matrix"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6760351"}},"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":"Q5348286$625DAB53-EF79-4C08-88A7-6D39600E737C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"deabac19e818bb5f39e701b7128d03b6ed2a9b6a","datavalue":{"value":{"text":"Nonlinear hierarchical control for quad-rotors with rotation matrix","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q5348286$1353C63F-7DE8-43B8-A72D-001F9AD78D2E","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"345b89d25a9690511b2b9a578d1ab929696c6b98","datavalue":{"value":"1367.93012","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$64BCAE06-CC60-47E1-920C-9C0EE369264D","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"5947390f0868ab0fedfcaa8e570c203ca8823dc2","datavalue":{"value":"10.1080/00207179.2016.1205756","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$DDEAE1D8-B7C2-4625-9487-12B5024E4698","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"28f7633f4a2b5bcb6dc6af84c0f4468c7f80834a","datavalue":{"value":{"entity-type":"item","numeric-id":335732,"id":"Q335732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$369FABF9-2EC3-49F5-BCA0-7A544AC285A5","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$B217F807-FC7E-4390-9D06-F4936EE2F476","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"27864268865827ced233ef05b68e85bfe91ce2b3","datavalue":{"value":{"time":"+2017-08-15T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5348286$6B03B7A2-AB90-486E-8411-7C4F3FFF8A8F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a1d1ec306e6072f89861e74f12dba9e600d6764c","datavalue":{"value":"93A13","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$2D380B53-79FC-469A-9942-0F2E45E47AC8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$7506DAEE-10D6-4A5A-A100-A0743738177C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$311B4BE6-C51A-4D0F-BF76-6563733660D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$7BDA414D-C558-42BA-AE23-BA775E4D0C93","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0e91d10b51d8008485f138e12990ea603e7fc80e","datavalue":{"value":"6760351","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$09DEC13E-FDA0-45B2-8392-27999CF3AB93","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"61ad39ff5e71a7e8fe07376cc5c3502e718f9522","datavalue":{"value":"quad-rotors","type":"string"},"datatype":"string"},"type":"statement","id":"Q5348286$1283B35F-A086-4F8A-8DFF-1810F5DF8D9A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0ff0dbe179137cd876c98fb613040b625d8ac30d","datavalue":{"value":"trajectory tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q5348286$A5B56251-9151-4326-8E2D-D5EA32DF8341","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f4016a7d8d3b9eed53da1a496be0e2546d66620a","datavalue":{"value":"rotation matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q5348286$153A8C8D-8D5B-4AC2-8A2E-E8438B953832","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5b3fa7327f2a0ee2b64237ccd62ec6552353a34e","datavalue":{"value":"hierarchical control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5348286$E66DE564-EEA7-431C-A11B-BCD57DA628A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e57351012d93674f923aee2cad1c96e2fbe6b219","datavalue":{"value":"auxiliary system","type":"string"},"datatype":"string"},"type":"statement","id":"Q5348286$F8D52F9F-11F0-463F-9555-6BBDADB407F1","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":"Q5348286$8D62608F-A04F-4203-8461-F34B2FAD17D7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"7485b6df757a9fda0d6fd1b78e839a020e0be6e9","datavalue":{"value":"https://doi.org/10.1080/00207179.2016.1205756","type":"string"},"datatype":"url"},"type":"statement","id":"Q5348286$938E1D77-CF8C-4D76-9785-F27A49DA0CB0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"6ba372703369ec1491ab78a52fa5bcec36574ed0","datavalue":{"value":"W2469315817","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5348286$94FCFE1D-785E-46D7-86A6-29ED9ECB7ACB","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"a81e85d21d6ba23d764864d613f0bfbacb0b049c","datavalue":{"value":{"entity-type":"item","numeric-id":976277,"id":"Q976277"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$770E4B7D-3885-45E0-B5C5-C5FE58EA0448","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d5595e36aa583298f0912434a425f9c6ebd8f0e5","datavalue":{"value":{"entity-type":"item","numeric-id":5405732,"id":"Q5405732"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$AC8D3DF7-AC2F-478B-96B3-8239FEAC68E5","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":"Q5348286$CAD33C92-42E3-4D51-A1B7-799FA37AA038","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"898c5d047d87679a4d8fc34f2a2712c485ef6d21","datavalue":{"value":{"entity-type":"item","numeric-id":5958830,"id":"Q5958830"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$0070086E-3D94-418B-AA65-8A999CF384A2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49c1e32ba867de13b3eec4a083dc35b009130ae0","datavalue":{"value":{"entity-type":"item","numeric-id":5375737,"id":"Q5375737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$B07B37F5-95F1-4737-8F89-D205F9DD241D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba15df45ca1b0f2afe2dd641bf8064ae8882e128","datavalue":{"value":{"entity-type":"item","numeric-id":2356675,"id":"Q2356675"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$BF884207-C90E-4461-A928-78DA9B425B73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9021ba20321c6d90f3604443a6ebeef057498670","datavalue":{"value":{"entity-type":"item","numeric-id":5375818,"id":"Q5375818"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$7FAC419E-CA4A-4AD0-8F75-DAB88C9781F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2aefad694e590bddeb6024636e61c822a4fe9e5d","datavalue":{"value":{"entity-type":"item","numeric-id":3454395,"id":"Q3454395"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$5ACC6F04-5FDA-47EE-8046-C258011B3448","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e3cfa52439198a3488cc52c77c0dd35f0494b26","datavalue":{"value":{"entity-type":"item","numeric-id":2470043,"id":"Q2470043"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$30D29F98-D89D-4AA1-9359-AF07E22DF8B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"56dc898c005e7b0ab49ade8a17af36d3392a7064","datavalue":{"value":{"entity-type":"item","numeric-id":5281750,"id":"Q5281750"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$8602AF74-81B1-4BA4-985F-ED23EA84B096","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f64189a351319ee025c205516633177f78636ed5","datavalue":{"value":{"entity-type":"item","numeric-id":5347887,"id":"Q5347887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$E5209527-45D1-40B8-A0AE-C5BC87628C4E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"566fded2a11f6c1b76b7850ed6d2262e9c29ce1d","datavalue":{"value":{"entity-type":"item","numeric-id":3119151,"id":"Q3119151"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$8CE5D5C9-D837-4ABE-82ED-5CD64DD93C71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d136eadcb890cff94830566ce569c9a6e4d9adf9","datavalue":{"value":{"entity-type":"item","numeric-id":2476228,"id":"Q2476228"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5348286$24668095-66D0-4549-B74D-AF6CB5240E65","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ece2c858ab138cc3d94d5e34b513566017f9b714","datavalue":{"value":{"entity-type":"item","numeric-id":5054382,"id":"Q5054382"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2edfb0fbf8d4be035bf220b0019a305078e7d7a4","datavalue":{"value":{"amount":"+0.9268341","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5348286$FCA70531-247B-4619-A183-88C3C1218600","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"49c456ffae52673611ada3b14232bf0496f03b06","datavalue":{"value":{"entity-type":"item","numeric-id":2789904,"id":"Q2789904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4f655a78728771b912312aec65fd90727c96728a","datavalue":{"value":{"amount":"+0.91645217","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":"Q5348286$1F320296-913C-443D-B4AB-992AF855B7A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dce5c0b35fe2d21fc4c9ee2e0f31d270ecb24c46","datavalue":{"value":{"entity-type":"item","numeric-id":5348661,"id":"Q5348661"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"32dc7e206e8d74260b719416a6775ad9e130d919","datavalue":{"value":{"amount":"+0.91008526","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":"Q5348286$61C16974-5D18-48A8-8CBE-0A94FB209A87","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2f07bfa42c867bc2ace4a2a28acdab1050b89e3a","datavalue":{"value":{"entity-type":"item","numeric-id":931950,"id":"Q931950"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c267b7e18bcef5aafdd5334e9d38152400470e0","datavalue":{"value":{"amount":"+0.9097406","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":"Q5348286$5E486935-E310-493B-B726-34D308B138B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9a817f08c5e2e6655ff62537e4a25a7d85480fb4","datavalue":{"value":{"entity-type":"item","numeric-id":5381381,"id":"Q5381381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6a062827c6636f15f2a95b41402a5619e28be43b","datavalue":{"value":{"amount":"+0.9085847","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":"Q5348286$9C53F8FF-8A43-430C-87DF-47B78E695BA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"77e060a5ce8e9f6169dff8b0e19e69d57082c3b5","datavalue":{"value":{"entity-type":"item","numeric-id":4591511,"id":"Q4591511"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3ad772c3b9042f19d6a834046aea570d05696126","datavalue":{"value":{"amount":"+0.90149724","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5348286$E4CDEA46-A426-4C2E-A645-792FB9DBABE9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5709bb3d85de4a7c265df43023c41a9d52a0a2d9","datavalue":{"value":{"entity-type":"item","numeric-id":3596153,"id":"Q3596153"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"825a8fa7894a5f195dbe75ca349b16a1f7c89e69","datavalue":{"value":{"amount":"+0.8994827","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":"Q5348286$5EF07942-39FD-4973-ABE4-4C1281D01E8C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fdf27f7fe9b824cc309e07b36a794e21b65fff1a","datavalue":{"value":{"entity-type":"item","numeric-id":3131287,"id":"Q3131287"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ba2490211117c27b397ddcd7b1146e4ac629f9c0","datavalue":{"value":{"amount":"+0.89939225","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q5348286$A737B06D-AB2A-4ECF-85FE-2EF612C20F67","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2998cd5bdd04b2d31e8f71521982848c24a95010","datavalue":{"value":{"entity-type":"item","numeric-id":490501,"id":"Q490501"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1f7ac87c6820df59d4016fd130aaf8262e7c2fbe","datavalue":{"value":{"amount":"+0.8968686","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":"Q5348286$61B59364-2D20-4299-90A5-86C42ECC336B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"05415274e7fed4254f11d773a211d20f50211f3f","datavalue":{"value":{"entity-type":"item","numeric-id":2346796,"id":"Q2346796"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5b68408198a34d45c8b8f0b9c7ed0a8b788c2d58","datavalue":{"value":{"amount":"+0.8959085","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":"Q5348286$1A020897-16F9-4783-A124-4192671A8AE3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:5348286","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:5348286"}}}}}