A self-anti-disturbance control method based on an elastoplastic friction model is proposed to address the problem of frictional nonlinear and external disturbances that affect the tracking performance of an optoelectronic stabilized platform. First, a spatial state model of a servo system based on elastoplastic friction is established. Second, the proposed elastoplastic model is used to compensate for the friction nonlinearity in the system via a feedforward method while initially suppressing the disturbance of the friction torque on the system and reducing the influence of measurement noise on the system, Third, a composite controller combining friction compensation and self-anti-disturbance control is designed based on this model. Finally, simulation experiments are performed on a servo system with friction. The simulation and experimental results show that the composite control scheme can improve the tracking performance of the photoelectrically stabilized platform. Moreover, the results verify the effectiveness and robustness of the proposed control method.