Table 1. The parameters for two different control methods.

Control method	Proposed control	NN-ABSC
Parameters	Controller for proposed method:	Controller for the NN-ABSC:
	$$\begin{array}{c}{c}_1=5,c_2=6,c_3=25,c_4=5\\ M_2=M_3=M_4=1.0\\ \text{RBFNN parameters:}\\ d_1=\left[\begin{array}{ccccccc}-3& -2& -1& 0& 1& 2& 3\end{array}\right]\\ d_2=\left[\begin{array}{ccccccc}-1.5& -1& -0.5& 0& 0.5& 1& 1.5\\ -1.5& -1& -0.5& 0& 0.5& 1& 1.5\end{array}\right]\\ b_1=b_2=10,\epsilon =0.01\\ {\tau }_2={\tau }_3={\tau }_4=0.01\\ {\Gamma }_1=\mathrm{diag}[3,3,3,3,3,3,3,0.001]\\ {\Gamma }_2=\mathrm{diag}[10,10,10,10,10,10,10,0.4]\\ \\ \end{array}$$	$$\begin{array}{c}{\kappa }_1=1,k_3=0.2,\eta =0.1\\ \text{RBFNN parameters:}\\ \begin{array}{ccc}& {\xi }_{ABSC}=& \\ & \left[\begin{array}{ccccc}-1& -0.5& 0& 0.5& 1\\ -1& -0.5& 0& 0.5& 1\end{array}\right]\end{array}\\ {\Gamma }_{ABSC}=\mathrm{diag}[3,3,3,3,0.001]\\ \\ \\ \\ \\ \\ \end{array}$$