Integrated　electro-mechanical　actuators　(EMAs)　are　widely　used　in　cooperative　robots.　Their　control　system　has　to　be　carefully　designed　to　achieve　a　desirable　performance.　The　proportional-integral　(PI)　control　and　the　active　disturbance　rejection　control　(ADRC)　are　the　two　commonly　used　controllers.　Compared　with　the　PI,　the　ADRC　shows　better　performance　in　terms　of　disturbance　rejection,　response　speed　and　overshooting　suppression.　However,　the　ADRC　utilises　numerous　parameters　and　the　optimisation　of　these　parameters　is　a　challenge.　In　this　study,　the　influence　of　the　parameters　of　beta(01),　beta(02),　beta(03),　beta(1),　beta(2)　on　the　ADRC　performance　is　deeply　analysed.　Considering　the　two　non-linear　factors　of　permanent　magnet　synchronous　motor　and　harmonic　transmission　in　the　EMA,　a　simulation　model　of　the　EMA　was　established.　An　improved　swarm　optimisation　algorithm　was　employed　to　optimise　the　parameters　of　the　ADRC.　A　second-order　ADRC　in　speed　and　position　modes　was　designed.　The　parameters　of　the　ADRC　in　these　modes　were　adjusted　using　improved　particle　swarm　optimisation.　ADRC　was　applied　to　the　EMA　field-oriented　control　system　instead　of　cascade　PI,　and　the　simulation　and　experimental　results　were　compared　using　the　cascade　PI　control　method.　When　the　target　speed　is　to　15　rpm,　the　speed　fluctuation　range　of　the　ADRC　is　about　+/-　0.3　rpm,　which　is　smaller　than　that　of　the　PI　controller＇s　+/-　0.5　rpm.　Compared　with　the　cascade　PI　control,　ADRC　affords　a　faster　response　speed,　greater　robustness　and　stronger　disturbance　resistance　in　the　steady-state　operation　process.