Abstract: Aiming at the slow approaching speed of the traditional sliding mode control system of permanent magnet synchronous motor (PMSM) and the poor observation accuracy and serious chattering of traditional sliding mode observers, a PMSM vector control method based on improved sliding mode anti-disturbance controller and full-order sliding mode observer is proposed. Firstly, an improved power reaching law is designed that introduces the sliding surface segmentation function and the hyperbolic tangent function, which can shorten the approach motion time and effectively suppress the system chattering. Then, an extended sliding mode disturbance observer is introduced to observe the load disturbance and improve the anti-load disturbance ability of the system. Finally, a full-order sliding mode observer based on second-order generalized integrator is designed to realize PMSM sensorless control, a full-order sliding mode observer is used to suppress the generation of sliding mode chattering source, and an adaptive filter based on second-order generalized integrator is constructed to extract the back EMF fundamental wave, while a phase-locked loop is used to obtain motor rotor position and speed information. Simulation and experiments verify the feasibility and effectiveness of the proposed method