[1]the College of Robotics Beijing Union University Beijing 100101 and also with Beijing Key Laboratory of Information Service Engineering Beijing Union University Beijing 100101 China;
[2]the School of Computer and Control Engineering North China Electric Power University Beijing 102206 China;
[3]the Graduate School Beijing Union University Beijing 100101 China;
[4]the College of Urban Rail Transit and Logistics Beijing Union University Beijing 100101 China;
Delay compensation; fuzzy cluster modeling (FCM); fuzzy sliding mode control (FSMC); networked tracking control(NTC);