In this work, a robust trajectory tracking control method is recommended and utilized for a kinematically inessential position tracking of mobile manipulator, in its task space in presence of parameter uncertainties and external disturbances. The suggested mobile manipulator consist 4 degrees-of-freedom (D-O-F) serial manipulator, which mounted on 3 D-O-F mobile bases. Using design of a terminal (NTSMC) non-singular sliding mode control for whole non-linear prototype of a mobile manipulator a

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... bust tracking control is attained. This control arrangement convinces systems states finite time convergence because of added term which is non-linear in linear sliding surface which reflect in non-linear sliding mode known as terminal sliding mode (TSM). Furthermore, traditional terminal sliding mode control (TSMC) has a problem of singularity associated with it, overcome by the offered control scheme. The usefulness, feasibleness and robustness of suggested techniques are illustrated with the help of simulations ( computer-based).