Abstract: Various controllers developed for tendon-driven continuum robot are analyzed in-depth, which can be used as a reference for future applications in the field of tendon-driven continuum robot. The control strategy is divided into model-based control and model-free control. Among them, model-based control can be divided into static control, dynamic control and geometric kinematics model control. Model-free control is a relatively unknown field. Comprehensive analysis is carried out from model-free static control, model-free dynamic control and model-free shape perception control. Finally, the various model-based and mode-free control strategies are evaluated, and the future research direction in this field is prospected.