There's no CLS command, since BASIC does not know or care what kind of terminal you are using. In fact, I think Altair BASIC was meant to work on a teletype, which can't clear the screen, because it outputs on paper!
If you are using any VT-102 compatible terminal, including the one included with the AD Pro, then you can write ESC (27) followed by [2J to clear the screen.
In BASIC, that would generally look like
PRINT:PRINT CHR$(27);"[2J";
One little issue to be aware of is that Microsoft BASIC counts the number of characters sent to the terminal and will send a Newline after 80 characters, even some of those are unprintable. This is why you want to send a bare PRINT first, so the first line doesn't get wrapped prematurely.
Some terminals (including PCs running BASIC or DOS) also clear the screen when CHR$(12) is sent (a Form Feed on a printer), but not all terminals respond to that, and it's not actually in the VT-102 standard.