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The piezoelectric ceramics is a kind of novel intelligent materials and possesses advantages of ultrafine resolution,high stiffness and fast frequency response.It is an excellent choice as an actuator to be applied widely to micro-nano positioning system.However,one of the drawbacks of the piezoelectric actuator is the obvious hysteresis nonlinearity to limit the accuracy of positioning.The present study focuses on describing the hysteresis nonlinearity between input voltage and output displacement of piezoelectric ceramics.In order to investigate the hysteresis nonlinearity of piezoelectric ceramics,a series of models are presented,such as Bouc-Wen model,Preisach model,Krasnoselskii-Pokrovskii model and so on.