For the nonlinear coupled system of two-link manipulators,ADRC(auto-disturbance resistant control) controllers are designed for the two joints,in which the ESO of ADRC for linearization via dynamic compensation is used to realize the decoupling control of two joints.Accurate tracking control of manipulator is achieved by selecting the control parameters of ADRC properly.Simulation results show the effectivity and the robustness of ADRC and put forward a new way for the tracking control of manipulator.