{"entities":{"Q614786":{"pageid":616562,"ns":120,"title":"Item:Q614786","lastrevid":42605216,"modified":"2025-07-04T13:48:23Z","type":"item","id":"Q614786","labels":{"en":{"language":"en","value":"Accurate modeling and robust hovering control for a quad-rotor VTOL aircraft"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5832144"}},"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":"Q614786$197081BE-9E24-4406-8AE0-A2BAF5B99C6C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0c9c66b59b965a08fb8df7d222d6bd46c4d15831","datavalue":{"value":{"text":"Accurate modeling and robust hovering control for a quad-rotor VTOL aircraft","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q614786$F980F783-517A-4FF9-B16F-860AEF4A21C4","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"72ae7d2a0800dadf77f6116d893ec7624397cfc1","datavalue":{"value":"1203.93141","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$1FCF4393-9640-467F-9084-B018056CF873","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f240c3abdc82049ce4fee1857cb0c95fd32134b1","datavalue":{"value":{"entity-type":"item","numeric-id":457993,"id":"Q457993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q614786$800A89BD-3709-4F55-A871-D75CAF98BEF7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"df87f44dfa5409ada71b2c49ec01d6fe2d49281f","datavalue":{"value":{"entity-type":"item","numeric-id":614785,"id":"Q614785"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q614786$DA6C3EAE-0F55-4CF3-AAD8-7A1705C52B71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2347ebcca6c5e2e97bac71bec8ddf84f5a13ae91","datavalue":{"value":{"entity-type":"item","numeric-id":176561,"id":"Q176561"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q614786$A4DE6949-7802-48B2-8639-99056719771D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8b52df0cb93c7806667d725dbe9cfd2eb5e433b6","datavalue":{"value":{"entity-type":"item","numeric-id":185894,"id":"Q185894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q614786$768EFE4D-2FFB-4287-AFDB-E054BA4110C3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"45f09720b2691bf34973226416bae4180cbec2f9","datavalue":{"value":{"time":"+2011-01-04T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q614786$12FAD6DD-7FFD-45B3-AB2F-E2A269571408","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$0831FDB1-2DBF-413E-9765-EBD4ED55522C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"30c44de7be251b06c724a821bfd07428e2a12118","datavalue":{"value":"93B35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$8FC2EE68-7CC6-4B59-9C9E-D2E5610B4AFA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$06EABCC4-C658-4558-902C-C861FB16D1BF","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f27a44dad756939b688f190fd62845f2b1782f9e","datavalue":{"value":"5832144","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$3A00A8CC-58BD-4481-B040-ECF2B639362B","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"80263d43d51b4c82f13f1fc8a91c4dcebdb01111","datavalue":{"value":"Hovering control","type":"string"},"datatype":"string"},"type":"statement","id":"Q614786$A0C9CBF5-4369-4C0D-B029-1D000604484B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"749094b26a74b98ec9b9e5fb8afdd7dfd753a83c","datavalue":{"value":"QRT (quad-rotor type) UAV (unmanned aerial vehicle)","type":"string"},"datatype":"string"},"type":"statement","id":"Q614786$532D6FEB-F690-42C3-A880-028B19C8F4BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"242b939c77fb10920222149c8e9b809be52ed8bd","datavalue":{"value":"VTOL (vertical take-off and landing)","type":"string"},"datatype":"string"},"type":"statement","id":"Q614786$8402D93A-CD1F-4D15-91BE-CAC95F750185","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":"Q614786$61BE2962-435E-400A-9A98-829B705A2149","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"91097b17b2ca1ce669661b8ba1e9d7b37f13dd33","datavalue":{"value":"https://doi.org/10.1007/s10846-009-9369-z","type":"string"},"datatype":"url"},"type":"statement","id":"Q614786$B1422E4E-A1EE-41B0-85C6-862F77739770","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"496f3b0d11508221f3a440aa5a80ee90b6d380f4","datavalue":{"value":"W4376848244","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$FAC65F6E-2588-4F05-A302-912D265A63F1","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"bee625c0e3a5085d7a269f1701cd9de4bf8a6cbe","datavalue":{"value":{"entity-type":"item","numeric-id":3493583,"id":"Q3493583"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q614786$62E17CCF-77D0-4724-A471-40CEE8AF8B78","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b83f20a5095e9825812dac00a3d4d07d37747dad","datavalue":{"value":{"entity-type":"item","numeric-id":4879220,"id":"Q4879220"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q614786$10348113-2806-48E0-9030-5A78CE7D2772","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"7200f82a11c758836c54545350b03a2aeb40cd0a","datavalue":{"value":"10.1007/S10846-009-9369-Z","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q614786$782F4B8B-93F4-4F93-B3F7-6E446AA4D20C","rank":"normal"}],"P1643":[{"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":"ce357cdd5ee37e1e30f24e3fc1d1e1bf919c7bf7","datavalue":{"value":{"amount":"+0.90531087","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":"Q614786$3224A4AB-EFFA-4FAB-B0AE-BE2A1D7B9DE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4b4626944a495c0710561d59798a54c0b7eae3c1","datavalue":{"value":{"entity-type":"item","numeric-id":6068410,"id":"Q6068410"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a9884b85dc93fa62238b9968be588fa137959a2c","datavalue":{"value":{"amount":"+0.89943635","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q614786$E530150F-C1D5-48EB-A40B-558DCD47BFC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c2690af7a1c453778872b3546d486ea4f420e64d","datavalue":{"value":{"entity-type":"item","numeric-id":2217639,"id":"Q2217639"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5d64f7404c905c47b8eecfb0a3e571fce5bdedd8","datavalue":{"value":{"amount":"+0.8914053","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":"Q614786$8D707D94-A74E-44ED-A6EE-3C3676F129BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7278bf784192a8e4e0f80d37cc48dbc7471da6dc","datavalue":{"value":{"entity-type":"item","numeric-id":4684104,"id":"Q4684104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"288716e8e34efcd8c1805318581ed23f89092f7e","datavalue":{"value":{"amount":"+0.8906249","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q614786$E7989260-CD79-4F65-A160-01202C849C9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d818a2bdf8d771893400281d7648b99cb9d58736","datavalue":{"value":{"entity-type":"item","numeric-id":4637926,"id":"Q4637926"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bb8a6c3f20897fa7132d437b30b4cfeecb97322b","datavalue":{"value":{"amount":"+0.8891279","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":"Q614786$B448A76D-0B10-4EDC-8763-531042C45715","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5b0e0bb089d689e3b83a5fb6fc9ab65d8d148313","datavalue":{"value":{"entity-type":"item","numeric-id":1660381,"id":"Q1660381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4630e7e89f7dcf8a757d28bc130b52ae16425f05","datavalue":{"value":{"amount":"+0.8889973","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q614786$A303B287-C651-4755-B2D3-5FAEC64E2E92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"adb728f8e48691d204d17d3f639453ef0c2d3afb","datavalue":{"value":{"entity-type":"item","numeric-id":2992485,"id":"Q2992485"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d19062de090ba759a32a196c96b08b19c7cff8e5","datavalue":{"value":{"amount":"+0.88850236","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":"Q614786$4207E619-828A-4C56-AE78-5C4CADE23DC8","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:614786","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:614786"}}}}}