In　this　paper,　a　fuzzy　variable　structure　sliding　mode　control　scheme　based　on　passive　theory　is　proposed　for　the　free　floating　space　robot　with　external　disturbance　and　modeling　errors.　Firstly,　combining　the　relationship　of　the　conservation　of　momentum　and　the　Lagrange　approach,　the　dynamic　equation　of　free　floating　space　robot　system　were　established.　On　this　basis,　according　to　the　sliding　mode　variable　structure　with　strong　robustness,　the　sliding　mode　variable　structure　control　scheme　is　designed.　In　order　to　overcome　the　chattering　of　the　sliding　mode　variable　structure　controller　(SMC),　fuzzy　control　method　is　introduced.　The　sliding　surface　is　used　as　input　of　fuzzy　controller,　the　weight　of　compensating　controller　is　used　as　out.　The　control　scheme　doesn＇t　need　the　differential　signal　of　sliding　mode　surface　and　is　easy　to　calculate,　which　can　realize　accurate　tracking　of　the　trajectory　and　eliminate　chattering.　Based　on　passivity　theory,　Lyapunov　function　is　designed　to　ensure　the　stability　of　the　system.　The　simulation　results　prove　the　controller＇s　efficiency.　Copyright　©　2016　Institute　of　Electrical　and　Electronics　Engineers　Inc..　All　rights　reserved.