Aiming at the problem of tedious parameter tuning, strong disturbance rejection requirements, and high control precision demands in aircraft actuator systems, a variable-structure robust control method for high-dynamic servo actuators based on particle swarm optimization (PSO) is proposed. The PSO algorithm is employed to optimize the parameters of the sliding mode controller, through a comparison of the PID algorithm, the sliding mode control (SMC) algorithm, and the improved PSO-based robust sliding mode control (PSO-RSMC) algorithm, simulations and experiments are conducted using physical military-grade servo actuators. The simulation results demonstrate that, with the inclusion of a friction function, the improved algorithm can respond to step signals more quickly and effectively, achieving rapid system tracking and precise positioning. Moreover, whether in response to step signals or sinusoidal sweep signals, the improved algorithm exhibits superior dynamic response and steady-state performance compared to traditional algorithms.