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Because the actuator composed of the dielectric elastomer has a viscoelastic effect during the driving process of the soft robot, which makes it difficult to accurately control the robot, a kind of beetle antennae search(BAS) algorithm optimization PID was proposed. The control algorithm was used for precise control of the soft robot. Firstly, the rheological model was used to build the dynamic model of the dielectric elastomer actuator(DEA). Secondly, the use of the BAS algorithm had a strong global optimization ability and a single optimization strategy to convert the PID controller parameters into BAS algorithm in the three-dimensional space. Finally, the PID parameters in the iterative process were optimized. The experimental results show that the maximum tracking error of sine, triangle wave is 0.95 mm and 1.08 mm. Compared with other control methods the proposed method has better control accuracy of the actuator.