The electro-hydraulic actuator has high integration and small space occupation, and is easy to form a distributed centralized control system. It has developed rapidly in the field of aerospace and engineering machinery. However, under low-speed operating conditions, it is difficult to complete high-precision trajectory tracking and even occurs low-speed crawling due to friction and nonlinearity of hydraulic system. Therefore, starting from the influence of friction characteristics on the trajectory tracking accuracy of electro-hydraulic actuator, a control strategy of feedforward compensation+ESO(extended state observer)was proposed, the average deformation of mane in LuGre dynamic friction was introduced, the state space equation of accurate servo system was established, and the friction model and pump controlled asymmetric cylinder model were built on Simulink platform. The trajectory tracking accuracy of the solution was simulated and verified by sinusoidal position command. The results show that the tracking error of feedforward compensation+ESO control strategy is only 1/4 of that of conventional PID control, and the tracking accuracy reaches 0.2 mm.