Recent discoveries and technological advances in understanding materials and the development of computing tools supporting calculation, have contributed to the proliferation of smart materials with a very wide of applications field. The piezoelectric motor has excellent characteristics; its quiet operation and small size that allow obtaining an ideal actuator. However, these motors still suffer from hysteresis, which causes significant positioning errors, particularly when the conventional control technique has been applied. This paper proposes an Adaptive Backstepping Sliding-Mode Control (ABSMC) approach for a piezoelectric actuator system to track desired motion trajectories. The proposed control methodology is established to accommodate parametric uncertainties, nonlinearities including the hysteresis effect, and other unmodeled disturbances, without any form of feed-forward compensation. The proposed ABSMC approach is very attractive in the field of micro/nano manipulation through which high-precision piezoelectric actuation control applications can be realized.