I have started to play through the Civil War quest, but I got to a glitch where I have to talk to Ulfric but he won't progress the quest. I was wondering if there is some sort of console command I can use to go back to before I even signed up for the Stormcloaks?

Load an old save.

Really, you need to load a save from before you started the CW Quests.

While it is theoretically possible to reverse progress using the console, you will miss something somewhere. A quest stage won't get reset, an actor won't get reset, a condition flag won't get set or cleared, items will not be where they are supposed to be, NPCs my not be where they are supposed to be etc etc.

It's better than nothing. I can't load an old save, because doing the quest was one of the first things I did in skyrim, and if I loaded from then it would basically be the same as starting a new game.

Are you far along on the main questline? You may have to finish it first.