Soft robotics is an emergent and swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is not easy due to their hysteresis characteristics. In response to these challenges, we propose an adaptive control method to compensate hysteresis of a soft actuator. Employing a novel dual pneumatic artificial muscle (PAM) bending actuator, the innovative control strategy abates hysteresis effects by dynamically modulating gains within a traditional PID controller corresponding with the predicted motion of the reference trajectory. Through comparative experimental evaluation, we found that the new control method outperforms its conventional counterparts regarding tracking accuracy and response speed. Our work reveals a new direction for advancing control in soft actuators.

翻译：软体机器人是一个新兴且快速发展的领域。气动致动器因其优越的性能而适用于驱动软体机器人，然而，其迟滞特性使得控制较为困难。针对这些挑战，我们提出了一种自适应控制方法来补偿软体致动器的迟滞。采用一种新型双气动人工肌肉弯曲致动器，该创新控制策略通过动态调节与传统PID控制器增益相对应的参考轨迹预测运动，从而减轻迟滞效应。通过对比实验评估，我们发现新控制方法在跟踪精度和响应速度方面优于传统方法。我们的工作为推进软体致动器的控制揭示了新的方向。