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A control method is proposed for achieving high tracking accuracy and tracking velocity for the wheel-legged robot application. Nonsingular fast terminal sliding mode (NFTSM) control is investigated to ensure that the system output can track the reference input in finite time. Besides, extended state observer (ESO) of the active disturbance rejection control (ADRC) is used to estimate the system lumped perturbation and compensated it in the controller based on the terminal sliding mode. This greatly reduces the chattering of the system caused by the gain of the sliding mode switch. Furthermore, tracking differentiator is designed to attenuate the output measurement noise. 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