Soft robotic arms have been widely used in various fields such as biomedical and marine exploration in recent years due to their advantages of multiple degrees of freedom, high flexibility, strong environmental adaptability, and high safety and interactivity. The soft robotic arm is made of highly deformable flexible materials. Due to the nonlinear characteristics of its materials, the precise control of the soft robotic arm has always been a research focus and difficulty in this field. Domestic and foreign researchers have carried out extensive research on the control methods of the soft robotic arm and made significant progress. However, there are still several issues that need to be addressed urgently. Therefore, this article summarizes the research achievements of domestic and foreign researchers in the motion control methods of soft robotic arms in the past decade. The commonly used control methods and the latest technologies of soft robotic arms are analyzed and summarized. The difficulties and challenges faced by soft robotic arm control are pointed out. The future development direction of soft robotic arm control methods is explored and prospected.