<p>The precise synchronization of positions among multiple electro-hydraulic actuators stands as a challenge in servo systems, the presence of friction and coupling errors has led to inconsistent motions among the various actuators, thereby undermining the holistic performance of the system. To remedy this concern, the paper presents an active mean-coupling synchronization control strategy that incorporates friction compensation. Initially, considering that previous friction models overlooked the zero-velocity oscillation issue under low-speed conditions and the asymmetry of frictional forces, by analyzing the impact of friction phenomena on the synchronization control of multiple actuators, we establish an asymmetrical zero-crossing friction model. Subsequently, we design an active controller driven by friction observation compensation. By real-time monitoring of the deviation between actual friction force and model predictions, the control signals are dynamically adjusted to precisely compensate for friction effects. Furthermore, a coupling error involving weighted components is established, integrating the mean coupling error among adjacent actuators into the controller for instantaneous adjustments, with the objective of reducing system coupling errors. Consequently, high-precision positional synchronization control for multi-actuator systems is achieved. To validate the effectiveness of proposed control strategy, we conducted experimental verification on the introduced approach. The results show that under the 0.25 Hz sinusoidal trajectory, the maximum steady-state synchronization error of the proposed strategy is reduced by 97.2% and 96.5% compared with PID-V (1.306 mm) and Rise-CC (1.068 mm). When compared to traditional synchronization control methods, this strategy holds a clear advantage in actively reducing synchronization errors among actuators and improving overall system stability.</p>