Table 2 Controller parameters.

BSCTDE

b₁₁ = 15, b₂₁ = 105, b₃₁ = 20.

ACFCNN

CFC: b₁₁ = 30, b₁₂ = 3.5, b₂₁ = 90, b₂₂ = 4.5, b₃₁ = 20, b₃₂ = 3.0, L₁ = 40, τ₁  = 0.06, τ₂  = 0.05, τ₃  = 0.05.

NN: NNs contains 9 nodes, widths b₂ = b₃ = 0.5, centers ω_i = −2.5 + 0.5i (i = 1 ¸ 9), \({\hat {W}_2}\left( 0 \right)\) = [0.45 … 0.045]^T, \({\hat {W}_3}\left( 0 \right)\) = [6 … 6]^T, η₁ = 3, η₂ = 3, η₃ = 3.

FSC: z_u1 = 10 + 10(1−cos(πt))(1−e^−t) (mm), z_s1 = − 10 + 10(1−cos(πt))(1−e^−t) (mm); µ_1a = z_1d – z_s1, µ_1b = z_u1 – z_1d, z_u2 = 10 + 10πsin(πt)(1−e^−t) + 10 e^−t(1−cos(πt)) (mm), z_s2 = − 10 + 10πsin(πt)(1−e^−t) + 10 e^−t(1−cos(πt)); µ_2a = α₁ – z_s2, µ_2b = z_u2 – α₁,λ₁₀  = 0.1, λ₂₀  = 0.1, λ₃₀  = 0.1.

Proposed

CFC-NN-FSC is the same as ACFCNN,

ANDO: D₁ = 45, D₂ = 60, η₁ = 3, η₂ = 3, η₃ = 3.