M.,
I want to second Nadine and Linda about pursuing sensory processing disorder and talking with an occupational therapist. Even "normal" children can benefit from the activities these professionals use on a daily basis.
Just remember, your son is always going to have lots of energy and drive, that is just his personality type. But, there may be things you can do to help him learn to control his impulses.
Our son was very colicky for six whole months. He screamed daily for hours. Every night felt like a battle and by the end of the six months my husband and I were both so exhausted and drained we decided to not have any other children. We couldn't go through that again. We later learned our son has sensory processing disorder (he couldn't tell where his body was in space so he was easily frightened unless he was tightly wrapped in his blanket) and food intolerances.
The book that was mentioned, The Out of Sync Child, is a wonderful book that can help you to understand some of what your son may be experiencing. As you read the book I would recommend you keep a journal and take notes, how does a specific technique help or not help with your son's behavior. Try each technique for a while, two to three weeks, so you and your family have a chance to settle into the changes.
Also, I would recommend removing all processed foods from your son's diet. Artificial food colorings and preservatives are known triggers for many children who have sensory processing disorder, ADHD, and Asberger's/Autism. Artificial food colors come from a variety of sources, but many of these sources you wouldn't let your child even put into his mouth if they were in your house. Here's an article you might find interesting, I was very surprised when I found out many of the food dyes are created from coal tar.
http://www.ehso.com/ehshome/FoodAdd/foodadditivescolor.htm
Our son is also intolerant to six other foods: wheat, corn, soy, oats, dairy, and eggs. Each of these foods have a specific symptom when his body breaks down and processes the foods. With soy he gets totally out of control, can't listen, can't sit still, and can't control him impulses (our son is 9 years old). With dairy he gets very mucus-y; he starts to sniffle a lot, his voice starts to sound thick like there is something in the back of his throat and his eyes start to water. With corn his skin gets very itchy and he can't sit still.
This is going to seem like a lot of information and totally overwhelming. I would suggest you start with the book, then move on to eliminating processed foods and take notes, how is your son doing now that the preservatives and food dyes have been eliminated from his diet? Then move on to specific food groups. Milk is a great place to start because many, many people are intolerant to milk, they just don't realize it.
There is a lot of information out there and for parents whose children have allergies and intolerances. There's a learning curve, but it gets easier if you take the process one step at a time. If you have any questions about this please message me, I'd be happy to help in any way I can.
Good luck, you can get through this and it does get better.
C. J.