This paper addresses a servo control technology that uses a permanent magnet synchronous motor (PMSM) to drive the high-voltage circuit breaker. In order to guarantee that the motion of high-voltage circuit breaker’s contacts is not affected by the uncertainties of the PMSM model, an adaptive model predictive control method is developed. In the proposed adaptive model predictive control method, a current predictive model is designed to estimate the currents at the next control cycle, and the deadbeat current predictive control of PMSM is achieved; the adaptive law is employed to compensate the effects resulting from the parameter uncertainties, where the cost function is chosen to reduce the error between the reference signals and the predicted current. The results explain that the proposed method has suppressed the influence of motor parameter mismatch due to the parameter uncertainties, and improve dynamic tracking and robustness.