Mobile manipulators, integrating nonholonomic bases with robotic arms, play a crucial role in dynamic and unstructured environments. However, conventional trajectory tracking methods, often based on predefined planning, struggle to adapt to real-time changes such as moving obstacles or evolving task requirements. This paper presents a novel joint control framework that incorporates real-time feedback, enabling continuous adjustments to both the mobile base and manipulator for smooth and coordinated motion. By treating them as a unified system rather than separate entities, the approach enhances end-effector precision, adaptability, and operational efficiency. Extensive simulations demonstrate its superiority over traditional methods, particularly in environments requiring high responsiveness and accuracy. These findings highlight the framework’s potential for industrial robotics, service automation, and other demanding applications.