The car-like robots are often affected by dynamics disturbance in the complex terrain environment, and the formation and trajectory tracking control of high-performance robots can’t be realized only by kinematics analysis. In order to solve this problem, a data-driven dynamic inner loop controller design method is proposed. The motor and the decelerating mechanism are considered as a whole. The input and output data are used to identify the model parameters in real time and the characteristic model of dynamic inner loop is built. A discrete sliding mode controller is designed for the second-order discrete dynamic system model driven by data and its stability is analyzed. The simulation and comparison are carried out in Microsoft Robotics Developer Studio 4 (MRDS4) which is a robot simulation platform based on the physical engine of Microsoft. The simulation data are imported into MATLAB for analysis to verify the overall effectiveness of the designed control strategy. In the complex terrain environment where the disturbance torque has a large influence, the robot can still maintain fast dynamic response speed, and respond quickly to the switching and tracking in formation.