Fuzzy Adaptive Switching Control for an Uncertain Robot Manipulators with Time-Varying Output Constraint

Table 1

Fuzzy rules of the FLS .

th rule
1	NB	PB	PS	NS	PB
2	PM	NS	PB	NM	NM
3	NS	PM	NB	PB	PM
4	PB	PM	NS	NB	PS
5	PS	PB	NB	PM	NS
6	NS	PS	PB	PN	NB