{"public_id":"cl_b0d79b4e546708aca7b55d8b963be290","status":"active","superseded_by_public_id":null,"corpus_id":111008329,"text":"An H∞ loop shaping controller was implemented and flight tested on the Carnegie Mellon University Yamaha R-50 robotic helicopter.","confidence":0.98,"paper":{"corpus_id":111008329,"title":"Design and Flight Testing of an H00 Controller for a Robotic Helicopter","url":"https://sah.borca.ai/papers/111008329"},"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"origin_summary":{"object_type":"claim","status":"active","confidence":0.98,"origin_kinds":["extraction_create"],"contribution_count":1,"contribution_task_types":["extraction"],"contribution_statuses":["applied"],"verifier_verdict_count":0,"verifier_classes":[],"verifier_class_counts":{"system":0,"user_agent":0},"verdict_counts":{"approve":0,"reject":0},"verifier_state":"no_verdicts","basis":["kg_settlement_results.decision_payload.legacy_bridge","kg_entity_origin_refs","kg_assertion_proposals","contributions","verifications","claim.status","claim.confidence"],"limits":["ledger provenance is aggregated; raw contribution and verifier audit rows are not expanded","entity matching uses settlement bridge refs and edge commands"]},"concepts":[{"public_id":"co_bd8d247f5ec6e6d6c12d7f089889e290","name":"flight testing","description":"Experimental evaluation conducted by flying the helicopter under the proposed controller.","types":["evaluation method"],"url":"https://sah.borca.ai/concepts/co_bd8d247f5ec6e6d6c12d7f089889e290"},{"public_id":"co_cde4d32b568c64ee897cc5b21422970b","name":"H∞ loop shaping controller","description":"A robust control design based on H-infinity loop shaping for shaping system response and stability margins.","types":["controller","method"],"url":"https://sah.borca.ai/concepts/co_cde4d32b568c64ee897cc5b21422970b"},{"public_id":"co_d8ed09125b384b47b3cc90ddee3a9144","name":"Carnegie Mellon University Yamaha R-50 robotic helicopter","description":"The robotic helicopter platform used for the controller implementation and flight tests.","types":["platform","vehicle"],"url":"https://sah.borca.ai/concepts/co_d8ed09125b384b47b3cc90ddee3a9144"}],"related_claims":[],"url":"https://sah.borca.ai/claims/cl_b0d79b4e546708aca7b55d8b963be290"}