A control algorithm combining feedforward hysteresis compensation based on Prandtl-Ishlinskii (P-I) inverse model and fuzzy PID was proposed to reduce the influence of clamping force/pressure hysteresis on a pneumatic actuator and improve the clamping force tracking control accuracy.The clamping force/pressure hysteresis characteristics of the pneumatic actuator were analyzed.The hysteresis model parameters were identified by the initial load curve method to establish P-I inverse model.A fuzzy PID control algorithm based on FBG force sensing was designed.The clamping force feedback was realized based on the self-made FBG sensor.The static characteristics of the sensors were verified by calibration experiment.Furthermore,a compound controller combined with feedforward compensation and fuzzy PID fused with FBG force sensing was constructed to complete the simulation comparison with the traditional PID and fuzzy PID controller of clamping force control in Simulink.Simulation results show that feedforward hysteresis compensation can reduce steady-state error and improve control accuracy.Finally,the dynamic tracking experiment was carried out on the pneumatic actuator clamping force control experimental platform.The effectiveness of the designed composite controller was verified.