Hover/Low Speed Dynamics Model Identification of a Coaxial Tricopter in Hover using Joint Input-Output Technique

This paper presents the identification and verification of the hover/low speed dynamics model of a 3DR Y6 tricopter, a coaxial tricopter, using Joint Input-Output (JIO) frequency-domain identification technique. Dynamics models for both the Y6A and Y6B configurations, which have differing rotational directions for the rear propellers, were identified. Flight data showed highly coupled dynamics and required use of JIO technique to eliminate the effect of the highly cross-correlated inputs. The identified models were verified using doublet flight data. Identification results showed that both the Y6A and Y6B configurations had highly coupled hover dynamics, different from conventional multirotor and coaxial quadrotor dynamics.