The hysteresis nonlinearity of piezoelectric ceramic driving platform affects its positioning accuracy and reduces the quality of such micro-nano manipulation systems as atomic force microscopy for scan imaging of micro/nanoscale samples.The hysteresis characteristics of piezoelectric ceramic driving platform are modeled by the least squares methodthus the cumbersome hysteresis model acquisition process is avoided.The composite control method combining feed-forward control with active disturbance rejection control is proposed.By setting the bandwidths of the expansion observer and the system controlthe purpose of eliminating hysteresis and improving the positioning accuracy of the platform is achieved.The experimental results show that the composite control method can effectively improve the system positioning control accuracy under the premise of ensuring system stability.