Microscale actuation holds transformative potential across various fields by enabling precise and minimally invasive actions, however downsize actuators while keeping relative large actuation range is challenging. Electrohydrodynamics (EHD) forces, arising from electric field-fluid interaction, can greatly deform fluid surface at microscale, yet there is a lack of knowledge regarding the modeling, control, and specificity which hinder their use in microactuator designs. This work, aims to design, model and open-loop control a droplet driven by EHD, focusing on its application in fluid joints (i.e. two solids link together by a liquid droplet) based microactuators. The model merges an energy-based steady-state hysteresis with linear dynamics, using the steady-state inverse as an open-loop controller to control the droplet’s height. For a selected design, both steady-state and dynamic models were fitted using a 3µL droplet of glycerin and the control strategy was tested. The model accurately predicts the stable droplet position, while the control strategy maintains a height error under 14 µm, a motion amplitude of 150 µm, and high repeatability. This work contributes to the advancement of microscale actuation by presenting a model and open-loop control strategy for EHD-driven droplets, facilitating practical use as a microactuator for fluid joints in microrobotic applications.