Dielectric elastomer actuator (DEAs) have significant potential for biomimetic area. The DEA has viscoelastic nonlinearities such as hysteresis which will reduce control accuracy in the control system and limit the broader range of applications in the high accuracy field. However, most of modeling the DEA based on viscoelastic are with high order and not suitable for control strategy. In this paper, the hysteresis model is using Controlled Auto-Regressive Model (CAR) to characterize the hysteresis phenomenon between the output displacement and input actuation voltage. Recursive Least Square (RLS) is adopted to identify the hysteresis model. Moreover, a validation experiment is set to validate the model. We also find that the hysteresis is varied with changing the frequence and amplitude of input voltage.