This paper reports the development of a low-latency arbitrary waveform generator (AWG), which is suitable for the control and measurement of superconducting quantum computers. It can generate qubit control signals and measurement signals in real time. Compared with commercial AWG, our AWG has less latency and higher analog bandwidth. Compressing latency can reduce system feedback time, and higher analog bandwidth improves the system's integration by mounting more qubits on the readout line. The AWG integrates four high-speed digital-to-analog converters (DACs), phase-locked loop (PLL) circuits, field-programmable gate arrays (FPGAs), and related circuits into a standard PXI 3U board. The waveform generator module, communication interface module, clock module, and configuration module are realized utilizing the FPGA. The FPGA-based hardware architecture enables AWG to be flexibly configured to meet the various needs of quantum experiments. The four-channel AWG has a 2-GSa/s sampling rate, a 14-bit resolution, and 500 MHz bandwidth. The jitter in the AWG output waveform is approximately 3 ps; the latency of the AWG (the time from the feedback trigger received until a feedback pulse is generated) is approximately 55 ns. These designs form the basis of realizing control system for large-scale quantum computing.