In 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 {HEAD ~ a common frame} of {TAIL ~ reference} 
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In 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 { HEAD ~ a common frame } of { TAIL ~ reference }
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 OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL