$c_{ij}$	The $ij$th term of the centrifugal force matrix
C	Centrifugal force matrix
$c_j$	The center of the jth rule
e	Control-error signal
${\overline{f}}_j$	The upper output of the rule layer
${\underset{\_}{f}}_j$	The lower output of the consequent layer
$f_i$	Force of friction
F	Static and dynamic friction matrix
$g_i$	The ith gravitational vector
G	Gravitational vector matrix
$h_{ij}$	The $ij$th term of the inertial matrix
H	Inertial matrix
$k_d$	The index function
$l_i$	The length of the ith arm
$q_d$	Expected angle
$q_i$	The actual angle of the ith joint
$\overline{y}$	The upper output of the consequent layer
$\underset{\_}{y}$	The lower output of the consequent layer
y	The output of the FNN
$\alpha$	The parameter of rule adaptive
${\theta }_j$	The width of the jth rule
$\lambda$	The uncertain disturbance term caused by modeling error and external interference
${\overline{\mu }}_{ij}$	The value of Upper membership function
${\underset{\_}{\mu }}_{ij}$	The value of Lower membership function
${\rho }_1$	Estimation error
${\rho }_2$	Experience error
$\tau$	Control moment