The hysteresis for a class of smart-material-based actuators is represented by adopting Prandtl-Ishlinskii model and a controller was designed based on the indirect adaptive robust control framework. In order to reduce the hysteresis effect, least squares method for on-line parameter estimation and the associated approximate model for inverse compensation are employed. And the inversion error is analyzed quantitatively. A robust controller is then designed to accommodate uncertain and nonlinearities and make the system stable. The simulation shows that the adaptive robust controller has not only good output tracking performance but also accurate parameter estimates.