Aiming at the dynamic performance limitation of the PID control method for the vehicle rocket launcher, a design of active disturbance rejection controller is proposed. To solve the problem that there are many uncertain parameters in the active disturbance rejection control (ADRC) module, the particle swarm optimization (PSO) algorithm is used to optimize the parameters of ADRC. PSO has strong optimization ability to optimize the parameters of the extended state observer and optimize the control system. The simulation results show that the stability of the servo system based on the control method is significantly improved, and the control accuracy and dynamic performance of the moving gun are improved.