{"entities":{"Q6091996":{"pageid":13226303,"ns":120,"title":"Item:Q6091996","lastrevid":93821333,"modified":"2026-06-05T05:12:30Z","type":"item","id":"Q6091996","labels":{"en":{"language":"en","value":"PD Sliding Mode Controller based Decoupled Aerial Manipulation"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7768871"}},"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":"Q6091996$94EB5916-75EE-4194-BF55-9CAC80E62F04","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0628685202df0972fc3ea5509d27b7433de15ac5","datavalue":{"value":{"text":"PD Sliding Mode Controller based Decoupled Aerial Manipulation","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6091996$C552EB30-263C-47C5-93A6-6B6E8665D5A9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f053c1161995e0d55d6f0ad2968ad5e4593b3f46","datavalue":{"value":"1530.93051","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$53C2D3CF-FDD0-4F92-A235-960F734FA00F","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"df6ec0911d9bce5fb0d3894889893059f129ad18","datavalue":{"value":"10.5220/0009856704840489","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$22B2B79D-AD12-455D-8132-0C88CBB5DC24","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"15019c23327d1386f971f6dfca09036d69cc9e09","datavalue":{"value":{"entity-type":"item","numeric-id":6091992,"id":"Q6091992"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$A6A6C174-70F0-4B69-9D49-E1B9E54D58C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5cac4c886bab9481320f89d07666f5ee78ee23ad","datavalue":{"value":{"entity-type":"item","numeric-id":6091993,"id":"Q6091993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$A2531E91-BC1A-4DEB-A66B-CF6221BA06C6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"dd597d46ca9e1f695eebcec6e033d32752a384bd","datavalue":{"value":{"entity-type":"item","numeric-id":6091994,"id":"Q6091994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$653E2D34-3E67-49EC-AC7A-3FB85F235673","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"bdebe845329f498bdedc4a0221ea81daa6c092b1","datavalue":{"value":{"entity-type":"item","numeric-id":3358574,"id":"Q3358574"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$4740945E-918E-449C-9559-7BFAC6430577","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"5f9b2dd9420a764c34c5245d121183b228dfd3b3","datavalue":{"value":{"entity-type":"item","numeric-id":6091995,"id":"Q6091995"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$8789D4FB-7E98-4A83-BF76-BE7C48DAA4AF","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b4e2c9d23c215aecf4028a73e437611c3655992a","datavalue":{"value":{"entity-type":"item","numeric-id":6071187,"id":"Q6071187"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$C4EAA943-0B16-4AA9-9B17-87C35518AEE8","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"02bc874fd535f84f9489a938d9fc8efb85a5d650","datavalue":{"value":{"time":"+2023-11-22T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6091996$6E99D6C3-E89D-4E57-A6F2-A428596EDB35","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9f9620f736fe7e9d98419851a30eb0cb81dd3f3","datavalue":{"value":"93B12","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$C4AAAB51-A273-4491-8BA4-5722B5268069","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$84BE8B52-76DC-4DB8-B318-0E448BA71BD2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$E88EAA38-E052-4194-BD1B-FCAD25B661DF","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ad9e0b2962812d5d3b7197b50c209fd3422d1954","datavalue":{"value":"7768871","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$9E9C0323-7CD3-41B5-B9DD-A191A05DF0CF","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5c0eaa2a53c71a4fd5e670cf6af42837f5085386","datavalue":{"value":"aerial manipulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q6091996$C2AEF91C-AC92-49E6-B28D-8BA4A9AF32F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2ca233f0ff31428114b013ed96020eca7532a301","datavalue":{"value":"decoupled dynamic system","type":"string"},"datatype":"string"},"type":"statement","id":"Q6091996$7C49D418-8A21-49F0-97A0-270FD3EF408A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f8adb4f50ad503c9073f1732f49b5dca4bd91a5a","datavalue":{"value":"SMC","type":"string"},"datatype":"string"},"type":"statement","id":"Q6091996$EF5ECF19-5DFA-4104-A754-7A40DF6A6221","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7f9c7b4deb8986824f5dfc6c04add7d2ea730e9f","datavalue":{"value":"sliding mode control","type":"string"},"datatype":"string"},"type":"statement","id":"Q6091996$8B1A9F64-DFE2-4961-907B-B9F5F759F7BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"818f815069d84d44632a7fcaf3caca2194cbd87b","datavalue":{"value":"PD-SMC","type":"string"},"datatype":"string"},"type":"statement","id":"Q6091996$1E37DC47-8C1A-419A-9C61-1B8CB5D08215","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$A15F69C3-3E59-45B5-A5C7-FF447510C33C","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"dcc9740263f9e126729ea41c764e43aadda3f63b","datavalue":{"value":"https://doi.org/10.5220/0009856704840489","type":"string"},"datatype":"url"},"type":"statement","id":"Q6091996$30EABBB4-F142-41C2-B01A-CE17FC183FEB","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"7fa1fd929067ae77624f93aa246be2760435960c","datavalue":{"value":"W3037052120","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6091996$9D890A9D-A9C5-44B8-9975-74B9D9959034","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c746cc0fab6a787e77f579edee08ba3e791a3d09","datavalue":{"value":{"entity-type":"item","numeric-id":6140659,"id":"Q6140659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b501880cae76a088294eafbb37c9c93e924e9279","datavalue":{"value":{"amount":"+0.7438912987709045","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6091996$B03A1B72-9980-4F9E-94E1-084E122AD92E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"18df3c809f7f3dfeeed8c65903c0edab3b581b2b","datavalue":{"value":{"entity-type":"item","numeric-id":3978387,"id":"Q3978387"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5bad9edf20a900a7fa18fa9e01ec15f12f56a857","datavalue":{"value":{"amount":"+0.7381576299667358","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":"Q6091996$22050228-EB2B-4B14-AB73-2F2EF3BCB2B6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"79af321a956583a8bd4314ab218995108c496d3e","datavalue":{"value":{"entity-type":"item","numeric-id":6140648,"id":"Q6140648"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bd270f68b2416ec1db1d02b95685750792a33cea","datavalue":{"value":{"amount":"+0.7268723845481873","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6091996$EEE8755E-E413-48CB-9424-B615CE38D1F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bca524fc0f079c86466ab62631fe8d242394a263","datavalue":{"value":{"entity-type":"item","numeric-id":2930749,"id":"Q2930749"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4c1bffad4ec52639293a4dc9b26390ad1a52fac0","datavalue":{"value":{"amount":"+0.7134590148925781","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":"Q6091996$A4DD6FCA-CAC7-46B6-99C4-3E5D5164CC1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d629c2c0b0c4f8ada65420b9e0f64c4886794dab","datavalue":{"value":{"entity-type":"item","numeric-id":1718533,"id":"Q1718533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d77624ae129b9e0fa4f459d241ae76dc4d98c2f2","datavalue":{"value":{"amount":"+0.7131553888320923","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":"Q6091996$7182B8E2-3EFB-4769-A0A4-84BF49340954","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"c39a117a349789e54237c0a3254f5a10c0a6517e","datavalue":{"value":{"entity-type":"item","numeric-id":6830565,"id":"Q6830565"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6091996$F7E17E5E-6445-4CAE-B761-630B0F0866D0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"PD Sliding Mode Controller based Decoupled Aerial Manipulation","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/PD_Sliding_Mode_Controller_based_Decoupled_Aerial_Manipulation"}}}}}