{"entities":{"Q931950":{"pageid":933798,"ns":120,"title":"Item:Q931950","lastrevid":65466609,"modified":"2026-04-12T02:47:12Z","type":"item","id":"Q931950","labels":{"en":{"language":"en","value":"Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5298435"}},"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":"Q931950$688E8955-4005-4ED0-AF9E-E8FE2EBDB775","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"c2834b55318882a4692a9a445b66cf86e11bddf7","datavalue":{"value":{"text":"Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q931950$DD1D5213-C809-44F3-A4DD-409F084B228D","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"17f298956c83728a2e858fc61589293b12414ffb","datavalue":{"value":"1140.70482","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q931950$E62B2240-C5F6-4B7F-9D7C-16E47C9C026D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"1c3e45d8a9d39345e9a4e157e8f6fd5bfbdf9314","datavalue":{"value":{"entity-type":"item","numeric-id":931949,"id":"Q931949"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q931950$9118FB3D-51AD-436A-9C8B-92CDA9E2B8EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7c0e34abcca50f24f2cbaed9f83b46ba447bd21b","datavalue":{"value":{"entity-type":"item","numeric-id":926052,"id":"Q926052"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q931950$5CC2F092-5F6B-4636-AE3E-BD917A8F7B4E","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d80107e4a6c516cfe19fca47ea2df77a0d79dece","datavalue":{"value":{"entity-type":"item","numeric-id":244694,"id":"Q244694"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q931950$07633CA2-17C9-4E12-9EAC-C19BB26C701B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"694fcff64632bb7c9f7b1c4fd99ec15da89c9111","datavalue":{"value":{"time":"+2008-07-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q931950$BD83A44A-2077-4F12-B642-163BE448ACAF","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q931950$9D06F706-15D1-4FD3-936F-00D656D91534","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q931950$A07EC52E-64E5-4AFE-A1F1-A2CA467B2BCC","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"dc76a956eb3c44d3148166b079e12f498874c447","datavalue":{"value":"5298435","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q931950$E03071BD-48E7-4DE3-9A65-A64AD8A75CA6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9a713c93c9da6aa6ad0768d2aa345243a064e4ce","datavalue":{"value":"quad rotor rotorcraft","type":"string"},"datatype":"string"},"type":"statement","id":"Q931950$253944EB-0C24-429E-9458-5FEC90AA1D4C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ef0041a59cf1c9bce698ef8ab0831fa9f90e275d","datavalue":{"value":"MIMO model","type":"string"},"datatype":"string"},"type":"statement","id":"Q931950$FF2B5C1C-CEF9-4440-8110-06DCCEDB5B01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6964bc9dc16536ea0595c489256aa486837f985b","datavalue":{"value":"underactuated systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q931950$99A80E77-0AD3-4012-83B7-AB8AF41CBC72","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":"Q931950$62F60455-9E5E-4031-AA44-3807F02C2EBA","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"ffda0fa0b0cf51db0e69e9ebf7babb34d7978552","datavalue":{"value":{"entity-type":"item","numeric-id":2512154,"id":"Q2512154"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q931950$D0D6B8FA-0D65-4ADC-BF30-FF91E6725051","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9aab67d703177a8e596747a2c951925a50a6e8b8","datavalue":{"value":{"entity-type":"item","numeric-id":2710212,"id":"Q2710212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q931950$F5AD41DF-C3E7-4D5A-AC7E-CE883993A378","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"e1245e3ae9cf13414f42c3aee417ef5e012c57bd","datavalue":{"value":"https://doi.org/10.1631/jzus.a071434","type":"string"},"datatype":"url"},"type":"statement","id":"Q931950$A62CBB55-6899-4C4D-AD30-20A619E71F0C","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"974260bd2a6a0ab6fc6d1c9ec54c78942f5d2780","datavalue":{"value":"W1963866267","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q931950$661C3C2A-1F23-4D42-95FD-5C869C5ACDA7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a748db16d90ede23cd4cfb334feab3085211e2b2","datavalue":{"value":"10.1631/JZUS.A071434","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q931950$76F5ADA4-678A-482F-8860-ABFC2270BC28","rank":"normal"}],"P1643":[{"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":"086c5617e8ffb7af879ffcaab76e1993c1c3ce80","datavalue":{"value":{"amount":"+0.8051289319992065","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":"Q931950$6D771188-B3E7-4104-8495-51B5247DC6FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6844a34297ea91db922a6a10025f0d9f01ff8d38","datavalue":{"value":{"entity-type":"item","numeric-id":719201,"id":"Q719201"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1fcc54f4dffbce331c2ec5ea27628dd022e82970","datavalue":{"value":{"amount":"+0.7870932817459106","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":"Q931950$304E8600-7051-4798-B644-EB71BBE87929","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1b7aaee1452dec9c23a6a58f5d3168674dc992d5","datavalue":{"value":{"entity-type":"item","numeric-id":3454395,"id":"Q3454395"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9c4fcaaad19445d6b9fff0e1e3a65ee754cf7fc5","datavalue":{"value":{"amount":"+0.7837250828742981","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":"Q931950$999A3319-3369-405A-BF04-A9C9FB098012","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b677970cf2a29df27fc50920bea3bc247e77a66d","datavalue":{"value":{"entity-type":"item","numeric-id":1400937,"id":"Q1400937"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"61ed8ec2d85c2b27ca0cd7a8248c2c71ce918ebe","datavalue":{"value":{"amount":"+0.7769291400909424","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":"Q931950$5AD15148-10CB-434A-9A6A-7D1CD6D097F6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"61af83cd09cb261fc5a5c370b3c0baa6464754ac","datavalue":{"value":{"entity-type":"item","numeric-id":3176166,"id":"Q3176166"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"04833d4366dd0e0268b0aec8339f71610d745c21","datavalue":{"value":{"amount":"+0.7755386233329773","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":"Q931950$1546F551-211C-47CC-8B77-C030BA3859D8","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Dynamic modeling and nonlinear control strategy for an underactuated quad rotor rotorcraft","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Dynamic_modeling_and_nonlinear_control_strategy_for_an_underactuated_quad_rotor_rotorcraft"}}}}}