<p>In this paper, a novel control method is introduced for the piezoelectric-driven flexible microgripper system. Based on the flexible hinge mechanism driven by the piezoelectric ceramic actuator (PEA), the electromechanical model and control method of the microgripper system are established. To reduce the hysteresis effect and nonlinear of the PEA, and mitigate interference from external clamping resistance, a novel slide-mode variable structure control strategy is proposed in this paper. This control strategy is robust and features online adaptability to relevant uncertain parameters, aiming to eliminate the chattering phenomenon of the controller output and achieve fast and accurate tracking of the displacement trajectory of the output end of microgripper. The stability of the proposed controller is analyzed to verify the performance of the proposed control method. In Additional, the convergence behavior of the tracking error under uncertain nonlinearity, alterable model parameters, and external disturbances also analyzed to illustrate the excellent advantages of the control method. Finally, simulation tests were conducted for the proposed control strategy to validate robustness and stability of micro-gripper. The comparison with PID and CSMC has also been done, the proposed control method owns the tracking error with 0.8%. Compared with several alternative control methods, the simulation results demonstrate that the proposed control method exhibits a significant enhancement in control performance, particularly excelling in the desired tracking of the gripper system.</p>