To solve the problems of external disturbances and nonlinear characteristics in the positioning control of the AC servo system of antiaircraft guns, an improved single-neuron Active Disturbance Rejection Controller based on Self-Recurrent Wavelet Neural Network (SRWNN-ADRC) is designed.The Single Neuron Adaptive Controller (SNAC) takes the nonlinear gain in the nonlinear error feedback control law as its weight coefficient.SRWNN is taken as an identifier, through which the gradient information of the controlled object is identified online and supplied to SNAC.Through the self-learning function of SNAC, the parameters in ADRC can be adjusted online.Simulation results show that this control strategy enables the system to have better steady-state performance, stronger anti-interference ability, and an optimized dynamic quality.