The dual-axis servo system with the LuGre friction model has problems of the position tracking and the speed synchronization. To solve these problems, a nonlinear observer-based command filtered adaptive backstepping control (OCFABC) method is proposed. The observer is used for system friction compensation. The command filter acts on the virtual control signal to solve the computational explosion problem in the backstepping method, and the error compensation equation is established to improve the tracking accuracy. In addition, the speed synchronization signals are designed to achieve the better system synchronization effect. The stability of the closedloop system is analyzed by using Lyapunov theory. Finally, the availability and the superiority of the designed method are demonstrated by simulation and experiment results.