Abstract: To eliminate the influence of the inherent hysteresis phenomenon of the piezoelectric ceramic actuator， a control scheme based on the combination of the active disturbance rejection control (ADRC) and the improved Preisach model is proposed. Taking the linearity of hysteresis loop of the model’s input and output as a criterion， the model is used to improve the positioning accuracy of the piezoelectric， thus improving the operating efficiency and success rate in bio manipulation. Through the experiments of different control schemes， the proportion of hysteresis loop is about 12.3% (no control)， 5.8% (improved inverse Preisach control)， 4.7% (composite PID)， 2.5% (ADRC)， 1.4% (composite ADRC). The experimental results comparisons prove that the control scheme proposed has good performance.

Key words: piezoelectric ceramic, nonlinearity, hysteresis loop, ADRC, Preisach model