In the filling production of chemical products, most of the filling products are poisonous and harmful products. Therefore, the precise, steady and quick positioning control for the filling nozzle reaching the sprue on the barrel is particularly important. The positioning control of the filling nozzle from a certain position to the sprue on the randomly placed barrel of the filling line is realized by two sets of lead screw systems. In this paper, aiming at the nonlinearity between servo motor and structure of lead screw, and the influence of the coupling between the X axis and Y axis in the plane on the control efficiency, a decoupling control method, namely active disturbance rejection controller based on fuzzy RBF neural network, is proposed, which achieves the high efficiency operation of from a certain position to the sprue on the randomly placed barrel in the plane. The practical application of the method in a chemical plant verifies that the method has the high efficiency and high precision positioning control under the bad environment.