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