In all three control strategies, {TAIL ~ the cross coupling effects} between the arms are treated as {HEAD ~ disturbances} which are compensated for by the adaptive controllers while following desired commands in a common frame of reference 
In all three control strategies , { TAIL ~ the cross coupling effects } between the arms are treated as { HEAD ~ disturbances } which are compensated for by the adaptive controllers while following desired commands in a common frame of reference
OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH