Improved drilling systems and methods may include piezoelectric actuator(s) in a drill string at one or more locations to minimize or eliminate stick-slip while drilling. For example, piezoelectric actuators may be incorporated into the rock bit or drill bit in the openings in the bit body for receiving the cutters. As another example, the piezoelectric actuators may be incorporated into an independent module that is place on or in the drill string. The independent module may be placed between the top drive and the drill bit or at the top of the drill string near a top drive.