Abstract: This paper presents a parameter optimization design method of ADRC controller based on multi-objective Moth-flame optimization algorithm. Aiming at the problem of premature convergence and even falling into local optimal in optimization process, the angle cosine is used to judge the neighborhood of weight vector which can effectively decompose the target space. Besides, the elite mechanism is added to store non-dominated solutions during the optimization process. The fusion distance is calculated to maintain the elite set and ensure the diversity of the population. Finally, the robot arm as an experimental example of simulation to verify the effectiveness of multi-objective moth optimization algorithm and it can be used for anti-interference controller parameter tuning.