Mardlijah, Achmad Jazidie, Basuki Widodo, Ari Santoso : A new combination method of firefly algorithm and t2fsmc for mobile inverted pendulum robot

Dr. Dra. Mardlijah MT
Prof.Dr.Ir. Achmad Jazidie M.Eng
Prof. Dr. Basuki Widodo M.Sc.
Dr.Ir. Ari Santoso DEA.



Published in

Journal of Theoretical and Applied Information Technology 47(2), 2013. dengan judul:

External link


Jurnal Internasional


FireFly Algorithm; Fuzzy Sliding Mode Control; Mobile Inverted Pendulum Robot.


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.