To improve the stability of directional switching under conflicting bidirectional transmission in personnel automatic elevators, bidirectional transmission control method based on a sliding mode observer is proposed. This method first constructs a bidirectional transmission dynamics model and obtains the second-order matrix form of the motion equation of the personnel automatic elevator; Then, a sliding mode observer is designed to achieve accurate estimation of the bidirectional transmission state of the personnel automatic elevator. The optimization control function is constructed with impact level, energy consumption, and response speed as the optimization control objectives. Based on the state estimation results of the sliding mode observer, a feedback control law is designed to achieve bidirectional transmission control of the personnel automatic elevator. The experimental results show that the control command switching of this method can effectively suppress the shaking of the personnel automatic elevator under different working conditions, reduce the operating impact to below 6m/s 2, and improve the response speed and operating comfort, demonstrating good control performance.