A nonlinear adaptive robust tracking strategy based on high-gain observer was designed for the servo system with state constraint for actuator dynamics and state measurement noise. A high-gain observer based on the value of the position measurement system was introduced, which consisted of a series of filters to eliminate the noise on the accuracy of the observer and the gain was estimated to ensure the observer robustness. A novel barrier Lyapunov function was proposed for tracking desired guidance commands. In the process of the design, requirements on system states could be satisfied by limiting the magnitude of the virtual control signals. The entire uniform bounded stability of the closed-loop system was proved by Lyapunov method. The system test shows the method suggested in this paper can estimate the speed and position of the load. Compared with the traditional control method, it has the advantages of strong anti-jamming capability, good robustness and rapid speed.