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