The purpose of this research is to control the vibration of a structure following a given trajectory. The controller is based on the Hedge Algebra (HA) theory. The control force is determined based on the explicit formula of the HA controller (HAC). The HAC is optimized based on the Balancing Composite Motion Optimization (BCMO) algorithm, a recently published swarm-based optimization algorithm. The design variables are the parameters of the reference range of the state and control variables, and the objective function is to minimize the root mean square (RMS) error between the position of the controlled mass and the reference trajectory. Investigations on the change in mass and stiffness of the structure are also conducted to prove the system's robustness. The simulation results show that the controlled mass of the structure closely follows the reference trajectory in the case of a nominal system and, in most cases, with the change of structural parameters.