Aiming　at　the　space　robot　system　of　floating-based　attitude-controlled　flexible　arm　with　partial　actuator　failure,　the　fault-tolerant　control　of　actuator　fault　and　the　active　suppression　of　residual　vibration　of　flexible　arm　were　studied.　The　dynamic　differential　equation　of　the　system　was　established　by　combining　the　assumed　mode　method,　the　conservation　theorem　of　linear　momentum　and　the　Lagrangian　equation　of　the　second　kind.　Based　on　the　singular　perturbation　theory,　the　system　was　decomposed　into　a　slow-varying　subsystem　representing　the　attitude　of　the　base　and　joint　trajectory　tracking　and　a　fast-varying　subsystem　representing　the　residual　vibration　of　the　flexible　arm.　Based　on　this,　a　compound　controller　was　designed,　which　is　composed　of　an　adaptive　neural　network　fault-tolerant　controller　of　the　slow-varying　subsystem　and　a　linear　quadratic　optimal　regulator　of　the　fast-varying　subsystem.　The　fault-tolerant　controller　of　the　slow-varying　subsystem　makes　the　system　insensitive　to　actuator　faults　and　ensures　the　asymptotic　convergence　of　the　tracking　error;　the　optimal　regulator　of　the　fast-varying　subsystem　can　effectively　restrain　the　residual　vibration　caused　by　the　flexible　arm　and　reduce　the　energy　loss.　The　correctness　of　the　theoretical　derivation　and　the　feasibility　of　the　compound　control　strategy　are　verified　by　numerical　simulation.　©　2020,　Editorial　Office　of　Journal　of　Vibration　and　Shock.　All　right　reserved.