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

Table 2

Fuzzy rules of the FLS .

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