Piezoelectric compliant micromanipulators are widely used in the field of micro-manipulation and micro-assembly technology， but their inherent hysteresis and nonlinearity affect the system control accuracy and stability. By connecting the dead zone operator in series with the traditional Prandtl-Ishlinskii （PI） hysteresis model， an improved PI hysteresis model is established， and the corresponding feedforward controller is designed. Then， the system model is decomposed into linear reversible components and bounded components， and weight functions and augmented models are constructed to design H∞ feedback controllers to ensure system stability and accuracy. Finally， a single-degree-of-freedom flexible micromanipulator driven by piezoelectric fibers is taken as an example to build an experimental measurement and control system. The experimental results show that under feedforward control， the hysteresis of the piezoelectric compliant micromanipulator drops from 16.5% to 4.4%， and the improved PI hysteresis model is feasible. When the reference trajectories are step and sinusoidal signals of different frequencies， or even changing structural parameters of the micromanipulator， the H∞ feedback control can effectively track the reference signal， and the relative control error is small， which verifies the effectiveness of the designed H∞ feedback controller.