Abstract: Considering the control problem of a class of nonlinear multi-variable systems, we propose a new controller via the adaptive second-order terminal sliding-mode (ASOTSM) approach. Compared with the traditional sliding-mode control method, it retains the advantages of simple structure and strong robustness, and effectively weakens the chattering problem caused by the sliding-mode control. The closed-loop system stability is proved by Lyapunov-based analysis, which guarantees the stability and finite time convergence of the control error.Real-time attitude hovering and tracking experiments are performed on a three degree-of-freedom control experimental platform and the results validate the effective performance of the proposed control scheme.