Voice coil motors (VCM) have higher requirements for the accuracy and robustness of the control system. Aiming at the problem of non-linear electromagnetic characteristics caused by changes in motor parameters and mechanical friction in its work, the principle analysis of voice coil motors and the establishment of corresponding mathematical models are carried out, and the unmeasurable and unknown interference in the mathematical model of the system is defined as the total interference , Utilize the nonlinear extended state observer (NLESO) to estimate the system position and the total disturbance, and the estimated total disturbance is fed-forward to compensate the control loop, thus a non-linear extended state observer is proposed. The closed-loop complementary sliding mode position control algorithm. According to the deduced mathematical model, a system simulation model is established in MATLAB/simulink. The simulation experiment shows that the NLESO+CSMC solution can reduce the steady-state error by up to 95.5% compared with the traditional sliding mode control, and the full tracking time can be reduced at the maximum. It is as small as 0.158s, and it still maintains good tracking performance after changing the desired signal, which improves the accuracy and robustness of the control system.