To improve the output performance and repeat positioning accuracy of a stick-slip piezoelectric actuator, a controller based on digital signal processor (DSP) and field-programmable gate array (FPGA) was proposed. The hardware and software of the FPGA and DSP were developed, with the FPGA utilizing direct digital synthesis (DDS) technology to generate driving signals. Combined with a high-voltage dynamic amplification circuit, the piezoelectric ceramic was rapidly charged and discharged, enabling stick-slip motion. This motion controlled the signal generator, allowing it to produce driving signals with varying frequencies and voltages by calculating and interpreting the received input and feedback signals. The feedback module incoperates an appropriate grating encoder to form a closed-loop control system. An experimental platform was built to conduct performance testing. When the driving frequency was 2.5 kHz, the driving voltage amplitude was 120 V, and the load was 4 g, the maximum speed achieved was 9.782 mm/s, and the repeat positioning accuracy reached 0.1 μm.