For piezoelectric ceramic actuator with inherent hysteresis nonlinear, an output tracking control scheme using backstepping control on sliding-mode observer is designed. First of all, the analysis of piezoelectric ceramic actuator system model is conducted, hysteresis is considered as a generalized disturbance. Then sliding mode observer is designed to observe speed variable. The system only needs the measurement of output position information. The backstepping controller is dedigned for the system using sliding mode observer. Finally, it is proved that the closed-loop system is stable using Lyapunov stability theory. All the signals in the system are uniformly ultimately bounded. Simulation results show the effectiveness of the method.