In　a　laser-tracing　measurement　system,　the　tracking　control　performance　largely　determines　the　measurement　accuracy.　However,　the　continuous　forward　and　reverse　movements　of　the　system　required　for　the　tracking　process,　frictional　torque,　and　external　disturbances　affect　the　tracking　performance.　In　addition,　when　a　two-dimensional　position-sensitive　detector　extracts　the　target　information,　the　required　quantity　of　light　intensity　accumulation　and　circuit　processing　time　lead　to　a　time　delay　in　obtaining　the　position　deviation.　In　this　study,　we　propose　a　tracking　control　method　based　on　compound　fuzzy　control　(CFC)　and　friction　torque　compensation　(FTC)　to　enhance　the　control　performance.　To　compensate　for　the　position　lag　and　frictional　torque　in　the　system　and　to　enhance　the　tracking　and　anti-interference　performance,　a　compound　fuzzy　control　method　based　on　position　feedforward　control　and　dual-mode　control　was　employed.　In　this　study,　a　field-oriented　control　strategy　was　used　to　achieve　tracking　control　in　a　laser-tracking　control　system.　In　this　method,　the　speed　loop　adopted　a　variable-universe　fuzzy　proportional–integral　(VUFPI)　control　strategy　with　friction　torque　compensation,　whereas　the　position　loop　employed　a　compound　fuzzy　control　strategy.　The　simulation　and　experimental　results　demonstrate　that　the　improved　CFC–(VUFPI+FTC)　cascade　control　method　offers　better　tracking　performance　than　the　traditional　proportional–integral　cascade　control　method.　The　rotational-axis　tracking　speed　of　the　laser-tracking　control　system　improved　by　84.6%,　while　the　pitch　axis　tracking　speed　increased　by　93%.　©　2024　Elsevier　Ltd