To address the issue that permanent magnet linear synchronous motors (PMLSM) are highly susceptible to uncertainties such as end effects, parameter variations, load disturbances, and nonlinear friction, a fuzzy enhanced complementary sliding mode control (FECSMC) method based on an exponential reaching law is proposed. First, a mathematical model of the motor incorporating these uncertainties is established. Then, by introducing a complementary sliding surface and an exponential reaching law, an exponential reaching law-based complementary sliding mode controller (ECSMC) is designed to enhance the system’s position tracking performance and robustness. Subsequently, fuzzy control is integrated to dynamically adjust the coefficients of the exponential reaching law, further improving the system’s robustness. Finally, a PMLSM servo control experimental platform is constructed. Experimental results demonstrate that the proposed method significantly improves position tracking accuracy while maintaining system robustness under uncertain conditions.