Running terminal command on startup

Hey all. I'm trying to figure out something that probably has a fairly simple solution. There's a terminal command I need to run when a server I've configured (a Mac one, of course) starts up. After some googling, I established that I needed to make a plain text file with the terminal command(s) in, rename it as mychosenfilename.command, and add it to the logged-in user's startup items.

So far so good, except the command in question is a sudo command, requiring that I type it in my password each time, making it more of an assisted startup item. Anyone know how I can, I guess, pre-approve this command to run without my intervention?