The trajectory tracking control of Underactuated Surface Vehicles(USV) with non-diagonal inertia matrix and damping matrix is studied. The global asymptotic stability of the closed-loop system is achieved by using the controller based on generalized dynamic inverse and sliding mode variable structure method. At the same time, the system singularity caused by dynamic generalized inversion is overcome by introducing dynamic scale inverse. Since zero projection matrix is not invertible, disturbing zero projection matrix is applied. Finally, the effectiveness of this method is proved by Matlab/Simulink simulation.