  Soft robotics is a swiftly evolving field. Pneumatic actuators are suitable
for driving soft robots because of their superior performance. However, their
control is challenging due to the hysteresis characteristics. In response to
this challenge, we propose an adaptive control method to compensate for the
hysteresis of soft actuators. Employing a novel dual pneumatic artificial
muscle (PAM) bending actuator, the innovative control approach abates
hysteresis effects by dynamically modulating gains within a traditional PID
controller corresponding to the predicted variation of the reference
trajectory. Through experimental evaluation, we found that the proposed control
method outperforms its conventional counterparts regarding tracking accuracy
and response speed. Our work reveals a new direction for advancing model-free
control in soft actuators.
