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