T2FSMC has succesfully overcome the chattering and robustness problems implementing on mobile inverted pendulum robot. The remaining drawback is the gain scale factor of controller determination of Fuzzy Type 2 that is still doing trial and error. Firefly Algorithm will be used in this paper to determine the best gain scale factor of controller of Fuzzy Type 2 automatically. Utilized as objective function is the ITAE Value of resulted response signal representing firefly light. It is proved from the simulation that the proposed method can effectively resulting optimal gain scale factor and the controller can solve chattering problem more effectively and more robust against disturbances and parameter uncertainties compared with trial error based.

Original languageEnglish
Pages (from-to)824-831
Number of pages8
JournalJournal of Theoretical and Applied Information Technology
Issue number2
Publication statusPublished - Jan 2013


  • Firefly algorithm
  • Fuzzy sliding mode control
  • Mobile inverted pendulum robot


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