A algorithm of combination of proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) is proposed to solve the problem of the airborne laser communication platform in a work environment caused by the transformation of its motion posture, instability of the work environment, and susceptibility to external factors such as interference of atmospheric turbulence with the tracking system. The PID control algorithm is added to the linear active disturbance rejection link to perform simulation and experimental testing of the system. The results show that the improved ADRC is superior to the traditional ADRC in terms of tracking accuracy, anti-disturbance capability, and robustness. The tracking accuracy values of the improved and traditional ADRC are approximately 6.8 and 8 μrad, respectively. Thus, the tracking accuracy of the improved ADRC is approximately 15% higher than that of the traditional ADRC. Introducing the control algorithm of the improved ADRC into the fast steering mirror system also has a good tracking effect.