A novel low power consumption autofocusing actuator in a mini video camera is constructed in accordance with the result of a systematic design procedure of voice coil motors (VCM). This paper emphasizes the position control of such a VCM. The position feedback signals are provided by a magnetoresistive (MR) encoder. The position estimation algorithm (PEA) is developed to precisely decode the MR signals for the position of the moving part of the VCM. Different postures change the loading of the moving part of the VCM, so that an adaptive model-following control system based on the PEA is proposed to compensate for the loading variation. The experiments verify the fast dynamic performance and high power efficiency of the VCM.