The present invention discloses a robustness self-adaption nonsingular terminal sliding-mode control method for a train ATO system. The method comprises: S1, analyzing stress condition of vertical motion of a train, and establishing a train vertical motion power equation comprising unknown parameters, nondeterminacy and external interference; S2, defining position tracking errors, speed tracking errors and acceleration tracking errors, and constructing a nonsingular terminal sliding-mode surface; S3, design self-adaption rules of each unknown parameter estimation value and the control strategy of the nonsingular terminal sliding-mode surface; and S4, putting the nonsingular terminal sliding-mode surface, the self-adaption rules of each unknown parameter estimation value and the control strategy of the nonsingular terminal sliding-mode surface into the train vertical motion power equation, obtaining a nonsingular terminal sliding-mode closed-loop control equation, and performing control through adoption of the nonsingular terminal sliding-mode closed-loop control equation. The tracking errors of the position speed of the train ATO system can arrive the slide surface in a limited time and can be converged to zero in the limited time.