A　dynamic　surface　control　method　was　designed　to　track　the　desired　trajectory　of　two　joints　based　on　gauss　fuzzy　system　for　the　free-floating　space　manipulator　system　with　joint　torque　output　dead-zone,　friction　and　external　disturbance.　The　friction　double　observers　were　used　to　estimate　the　unmeasurable　internal　friction　state.　Dynamic　surface　control　was　designed　to　avoid　calculation　expansion　caused　by　backstepping　method　and　to　simplify　calculation.　The　fuzzy　logic　function　was　applied　to　approximate　uncertainties　terms　of　dynamic　equation　including　the　dead-zone　errors　and　external　disturbances.　The　Gauss　weight　matrix　and　LuGre　friction　parameters　were　adjusted　by　adaptive　laws.　The　Lyapunov　theory　proves　that　the　system　is　semi-globally　uniformly　ultimately　bounded.　The　simulation　results　show　that　the　trajectory　tracking　errors　of　two　joints　both　are　less　than　0.2°　after　2　s,　indicating　that　the　control　method　is　effective.　©　2018,　Editorial　Board　of　Journal　of　Huazhong　University　of　Science　and　Technology.　All　right　reserved.