Abstract: The presence of nonlinear,dynamic friction in high precision servo systems can lead to tracking error,limit-cycle,etc.in the condition of low speed and velocity reverse.Based on analyzed the forming principle and characteristics of friction,the LuGre dynamic friction model is introduced in this paper,and then a LuGre model-based adaptive nonlinear friction compensation method is developed through the Lyapunov stability analysis,the friction model parameters are identified online,and a dual-closed loop observer is constructed to estimate the friction state variables which can’t be measured,which greatly reduces the effect caused by nonlinear friction.The validity and effectiveness of the proposed compensation method is verified by simulation and experiment for the positional control.