Tracking control has attracted significant attention because of its close link with industrial applications. Tracking control requires that a control algorithm can ensure that an actuator follows control commands, with a fast response anti-disturbance abilities and small chattering. A tracking-differentiator-based sliding-mode control approach for tracking control is proposed in this paper. A tracking differentiator has the ability to obtain the desired signal's differential signal, even when there is noise in the desired signal. A differential signal is often required in the design of sliding-mode controllers. When tracking differentiator is applied to a sliding-mode controller, the chattering of the control commands (caused by noise disturbance) can be reduced while the fast response of the sliding-mode controller can be maintained. The simulation results show that the proposed controller is effective.