Nowadays mobile Robot received considerable attention due to its ability for various operations. Energy consumption in mobile robot is based on its mass and size of the robot, as a result implementing this type of robot with large length and light weight is very cost effective. Rigid robots are heavy and large as a consequence they are slow and have high energy consumption. In contrast flexible robots are faster, more efficient, and safer than rigid robots; However, they have not been favored in production industries due to its obvious disadvantages in controlling the manipulator. Controlling of such these systems are more complicated. The insatiable demand for high performance robotic system quantified by a high speed of operation, and low energy consumption has triggered a vigorous research thrust in various multi-disciplinary areas, such as design and control of light weight flexible robot arm. Various operations can be implemented to control robots such as Hydroelectric, DC motor, AC motor, micro motors and Piezoelectric. In most of the previous research works, servo-motor are used as feedback actuators in order to achieve desired End-point position while effectively suppressing unwanted vibration of the flexible links. This method has hardware limitation such as saturation of the motor and signal noises from the motor and sensors associated with high frequency vibration modes. One of the potential method to resolve this problem is to use smart materials as feedback actuators for vibration control. Piezoelectric is important because of its applications on quick respond robots. So far various methods have been used for controlling flexible robots. Sliding mode control strategy can consider as one of the most effective methods for this type of robots. In this paper, an effective method for controlling the motion of the end effector of a two link flexible manipulator that is mounted on a vehicle base has been proposed. The proposed method consists of two servo motors which move the wheels attached to the moving base. Furthermore, another two servo motors are employed to move all parts installed on the hub. In addition, two piezoelectric is used to control flexibility of the links. We use a hybrid actuator scheme to actively control the end point position. Our control strategy is based on sliding mode controller. Two sliding hyper planes which time-varying parameters are designed for four servo-motors. The sliding mode controller corresponding to the hyper planes are then synthesized on the bases of an equivalent rigid link dynamics to the proposed flexible manipulator. During the motion, undesired oscillations caused by the torques based on the rigid link dynamics are actively suppressed by applying feedback control voltages to the piezoceramics actuators. A constant amplitude controller has been developed for adjusting the piezoelectric voltage.Lagrange equations have been used for solving Non-liner equations of motion. A highly nonlinear model discrete by assumed mode method.In addition, the flexible links are modeled as an Euler-Bernoulli beam , cantilever boundary conditions, beam anchored at only one end. Maple software is used for solving the dynamic equation and Matlab simulink has been used for implementing the proposed control strategy. Simulation results validate the proposed method. Keywords: Flexible manipulator, Mobile robot, Piezoelectric actuator, Sliding mode control.