In order to solve a series of complex nonlinear problems such as friction torque and external disturbance of certain type rocket launcher position AC servo system driven by permanent magnet synchronous motor (PMSM), an active disturbance rejection controller based on immune clone particle swarm optimization algorithm was designed (IPSO-ADRC). According to the strong anti-interference ability of active disturbance rejection control (ADRC) and the strong optimization ability of particle swarm optimization (PSO) algorithm, the immune clone particle swarm optimization algorithm is used to adjust the important parameters of ADRC online. The clone selection algorithm (CSA) is integrated into the particle swarm optimization algorithm to maintain the difference of population types and solve the defects of the PSO algorithm. The simulation results show that the control strategy can improve the steady-state performance and dynamic quality of the system.