机电位置伺服系统是典型的非线性系统，且存在诸多不确定性，使得传统方法设计的闭环控制器往往不能满足系统的高性能需求。针对动态摩擦参数和系统负载特性未知的情况，为伺服系统设计一种基于动态面滤波法的自适应鲁棒跟踪策略。构造一个非线性观测器来估计摩擦力矩，利用动态面滤波器简化控制器的设计，设计自适应鲁棒控制器以提高系统的稳态控制精度及鲁棒性。基于Lyapunov稳定性定理证明闭环系统的所有信号半全局一致有界，通过适当选择设计参数及初始化误差变量，跟踪误差可收敛到原点的一个任意小邻域内。仿真和试验结果表明，该控制器能够能有效地抑制摩擦干扰对伺服系统的不利影响，显著提高了系统的控制精度，为提高伺服系统的动态跟踪性能奠定基础。

Mechatronic positioning servo system is a typical nonlinear system, and also usually exist many uncertainties. The nonlinear and uncertainties make the conventional controller not yield to the required system performance. Aiming at unknown dynamic friction parameters and unknown load characteristic, a adaptive friction compensation is designed for the servo system．The design of the controller is simplified by using a dynamic filter and an adaptive robust controller is designed to improve the system steady state accuracy and the robustness respectively. The output tracking error is proved to converge to a small neighborhood around zero and the performance of system tracking error can be guaranteed by appropriately choosing design parameters and introducing an initializing technique. Simulation and experiment results are shown to effectively inhibit the disadvantageous influence of friction and lay the foundation for improvement of dynamic performance of servo system.