In order to overcome the problems of limited speed, high noise, high friction, low precision and low automation of traditional needle machine due to rigid contact, this paper proposes a new type of Lorentz force actuated magnetic levitated needle drive system and designs an adaptive non-singular fast terminal sliding mode control strategy based on the extended state observer to realize its motion control. Firstly, the structure of the magnetic levitation needle drive system is designed and its mathematical model is established according to the working principle of Lorentz force; the combination of extended state observer, non-singular fast terminal sliding mode and adaptive convergence law improves the robustness and anti-interference ability of the system, and the stability of the proposed controller is proved by Lyapunov stability theory; Finally, the adaptive non-singular fast terminal sliding mode control based on extended state observer and adaptive robust sliding mode control are compared by simulation and experiment, respectively. The results show that the adaptive non-singular fast terminal sliding mode control system based on the extended state observer has better control effect, and has faster response speed (0.13 s), smaller steady-state error (±10 μm) and needle knitting trajectory operating error (±20 μm) than the adaptive robust sliding mode control.