In view of the large error between the output value and the expected value of the motion parameters of the flexible actuator, the pressure, current, angular velocity and angular displacement produced in the driving process of the flexible actuator were studied. The motion principle of the flexible actuator was analyzed, the differential equation of the driving of the flexible actuator was derived. PID control system was quoted, and an optimization method combined genetic algorithm with particle swarm optimization was proposed. Hybrid algorithm was used to optimize the PID control system of the flexible actuator, and the flow chart of the flexible actuator with the improved PID control system was given. MATLAB software was used to simulate the optimized control system, and the output results were compared and analyzed with the PID control system. The research results show that the system can adjust the control parameters of the flexible actuator on-line, improve the tracking accuracy of the pressure and angular displacement of the flexible actuator, and the system has fast adaptive adjustment speed and good stability.