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The fuzzy logic systems are applied to model the unknown nonlinear terms in the systems. Then, a novel tan-type barrier Lyapunov function is adopted to overcome the problem of full state constraints. By utilizing the finite-time control theory and the backstepping technique, a finite-time fuzzy adaptive controller is designed. The controller can guarantee that the tracking error is adjusted around zero with a small neighborhood in a finite time and all the signals in the closed-loop system are bounded. 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