Abstract: Aiming at the characteristics of the varied inertia moment and load moment, and strong impact moment, adaptive backstepping sliding mode control approach is presented. By selecting the proper Lyapunov function, the stability of the drive system can be guaranteed. Adaptive backstepping control law progressive track the reference position signal of controlled device, and sliding mode control can restrain effects of parameter uncertainties and external disturbance. Simulation and theoretical results show that the controller can guarantee the response speed and accuracy, and possesses a strong robustness.