In order to improve the system robustness and adaptive ability in the permanent magnet synchronous motor (PMSM) sensorless control system, a new active-disturbance rejection controller (ADRC) was presented. In practice, the ADRC parameters are difficult to operate and adjust, so we introduced the fuzzy control.Combined with their own characteristics, and a self-adapted active disturbance rejection controller with fuzzy control theory was designed. The inside and outside of the system disturbance were considered as the unknown disturbances, with the new ADRC to implement the PMSM sensorless control. Simulation results have shown that the system has strong adaptive ability of disturbance and robust at different speed conditions, and it has high accurate speed estimation. The feasibility and advantages of the control strategy have been validated in the field of permanent magnet synchronous motor control.