<p>This paper presents a novel sliding mode control (SMC) strategy for trajectory tracking of manipulators subjected to impulsive and external disturbances. While traditional SMC techniques have proven effective in tracking tasks for continuous systems, they encounter significant challenges when applied to discontinuous systems affected by impulsive dynamics. To address this issue, we propose a robust control scheme tailored to handle the unique difficulties posed by impulsive disturbances. The approach begins with the design of an innovative sliding surface function and a corresponding sliding mode controller. The resulting sliding mode dynamics are characterized as linear impulsive systems. Utilizing finite-time stability theory and the piecewise Lyapunov function approach, we establish sufficient conditions to ensure that the sliding surface is reached within a finite time and show that the reduced-order impulsive system achieves exponential stability during the sliding phase. Additionally, we introduce an estimation method for impulsive disturbances and establish necessary constraints to ensure accurate tracking performance of the manipulator despite the presence of impulsive and external disturbances. Finally, comprehensive simulations and rigorous performance evaluations are conducted to substantiate the efficacy of the proposed control strategy.</p>