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In this paper, we consider the adaptive control problem for piezoelectric actuators with nonlinear uncertainties. The controller consists of two parts: sliding mode and adaptive component. The sliding-mode part rejects dominant uncertainties, while the adaptive component is continuously refined based on just prevailing input and output signals. The stability of the designed control system can be guaranteed by a rigorous proof. Simulation and real-time experimental results are provided to verify the effectiveness of the proposed scheme.