An object of the invention is to provide a positioning apparatus and a positioning control device that may perform precise positioning by suppressing relative displacement of a movable point and positioning target objects. In a positioning apparatus including a movable stage, a stage position detector that detects a position of the movable stage, a control device that performs positioning of the movable stage, a positioning target object for positioning of the movable stage, and at least one or more sensors in a structure of the positioning target object or the movable stage, the control device includes an amount of relative displacement estimation unit that estimates an amount of relative displacement of the movable stage and the positioning target object using information of the sensor and information of the stage position detector, and a unit that controls the position of the stage using information calculated by the amount of relative displacement estimation unit.