This paper proposes an enhanced droop control method based on P–f and Q–V characteristics to ensure seamless transitions between operating modes without switching control strategies. An automatic parameter tuning mechanism is introduced to suppress voltage fluctuations caused by power imbalances in the microgrid. In addition, a grid-synchronization control scheme with positive feedback is developed, enabling smooth reconnection to the main grid while maintaining the power output of distributed generators (DGs). Simulation results on a low-voltage microgrid confirm that the proposed methods improve voltage regulation during islanding, facilitate stable grid reconnection, and reduce disturbances during mode transitions.