Grube, MalteMalteGrubeMehring, Marven MathisMarven MathisMehringSeifried, RobertRobertSeifried2026-08-242026-08-242026-07European Control Conference, ECC 2026https://hdl.handle.net/11420/64458Soft robots are an emerging and fast-growing field of research with applications in various areas. With the rise of new soft robotic applications, control requirements increase. Thus, control of dynamic motion is becoming more and more important. The main challenges in controlling soft robots stem from their large, continuous deformations, which lead to many degrees of freedom, as well as the difficulty of sensor integration, which leads to a limited availability of control feedback. Additionally, unknown material properties and comparatively large manufacturing inaccuracies hinder reliable modeling of soft robots. So far, in soft robotics mainly so-called quasi-static control approaches, which neglect the dynamics of the system, are used. However, modern soft robotic applications demand increasingly faster and more accurate movements. In these cases, quasi-static controllers are insufficient, and controllers which account for the robots dynamics are needed.In this work different feedforward and feedback control approaches for dynamic trajectory tracking control of soft robots are implemented and examined. A neural-network-based quasi-static feedforward controller, a dynamic feedforward controller based on the inversion of a dynamic piecewise constant curvature (PCC) model using servo-constraints, and the combination of the two different feedforward controllers with a linear quadratic regulator with integral action (LQRi) and gain scheduling are considered. For feedback control, only sensor feedback obtained from a curvature sensor integrated into the soft robot is used. The performance of these approaches is compared in simulations and experiments.enModelingSoft roboticsArraysPrintingTrajectoryTrajectory trackingImage sensorsTendonsEquationsFeedback controlTechnology::627: Hydraulic EngineeringTechnology::629: Other Branches::629.8: Control and Feedback Control Systems::629.89: Computer-Controlled Guidance::629.892: RobotConference Paperhttps://ieeexplore.ieee.org/abstract/document/11625246