In this study. an adaptive nonsingular terminal sliding mode control technique according to the barrier function is designed for the performance improvement and robust stability of nonlinear systems with outdoor disturbances. For this reason. a novel nonlinear sliding surface is presented based on the states of the system. https://www.spidertattooz.com/Metabo-HPT-NT1865DMASTM-18V-MV-15-Gauge-Brushless-Cordless-Angled-Finish-Nailer/