This paper proposes a time-varying continuous higher-order sliding mode (HOSM) control method for SISO uncertain nonlinear system. HOSM control is converted as finite time stabilization of all-dimension integrator chains with bounded uncertainty. After carried out state feedback control, the auxiliary control law includes two parts. One part achieves finite time convergence of pure integrator chain. The other part, time-varying super-twisting algorithm, is designed to overcome the uncertainties with unknown upper bounds. This control method gets that the control chattering is puny, and over-estimated control gain is nonexistent. Finite time convergence is formally proved based on quadratic form Lyapunov function. Simulation results for an academic example verified the effectiveness of the proposed approach.

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