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