The industrial manipulator is an efficient production tool with the advantages of all-weather work, low maintenance cost, and high production efficiency. However, precisely controlling the manipulator to track the desired trajectory is a crucial problem that cannot be ignored during the operation of the manipulator. In this paper, we try to overcome the tracking accuracy and stability problems of the dual-axis manipulator from the controller. We design an advanced controller which utilizes RBFNN and TDE to tackle interferences, and NFTSMC is used to deal with estimate errors. Finally, we set a series of simulations to verify the enhanced model and proposed controller.