Deformation-free clamping plays an important role in manufacturing systems helping to ensure zero-defect production. The fixture of workpieces during machining processes poses challenges not only for microparts but also for thin-walled pieces or free-form surfaces in macromanufacturing. To address this challenge, a nontraditional adhesive technique, using frozen water to clamp, is introduced in this paper. By increasing the cooling power and thus reducing the temperature of the clamping plate, higher adhesive ice strength and, therefore, a safer clamping system during machining process, can be achieved. The objective of this investigation is to ensure a stable low temperature and to compensate for thermal disturbances. Thanks to their structural robustness, Lyapunovbased control strategies demonstrate an appropriate capability to achieve these results in real industrial applications. Model design of the clamping system as well as simulation and experimental results are shown and discussed.