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.