Adaptive Finite-Time Fractional Order Sliding Mode Controller with GMO Optimization Algorithm for Inverted Pendulum System

This study presents an innovative technique for controlling an inverted pendulum. An adaptive finite-time fractional order sliding mode controller is suggested to ensure stability and precise tracking of the trajectory while minimizing the chattering phenomenon. The controller coefficients were further refined through the application of the Geometric Mean Optimizer (GMO) method. Using MATLAB/Simulink 2021b, the suggested method’s performance was simulated and compared to alternative approaches.