The　dynamic　control　and　vibration　suppression　problems　of　free-floating　space　flexible　manipulator　are　studied.　The　Variable　Structure　Control　(VSC)　law　alone,　which　is　designed　to　track　the　desired　trajectories　of　base＇s　attitude　and　joint　angles,　does　not　guarantee　the　stability　of　the　flexible　mode　dynamics　of　the　flexible　link.　In　order　to　actively　suppress　the　flexible　vibration,　a　hybrid　trajectory　for　the　VSC　is　generated　using　the　virtual　control　force　concept.　Based　on　the　hybrid　trajectory,　the　hybrid　control　scheme　is　proposed　to　eliminate　the　flexible　vibration　while　the　robustness　of　VSC　developed　for　coordinated　motion　is　maintained.　In　particular,　it　doesn＇t　require　measuring　the　position,　velocity　nor　acceleration　of　the　base　in　the　controller　design.　Simulation　result　confirms　that　the　proposed　hybrid　control　scheme　can　dominates　the　trajectory　tracking　of　coordinated　motion　and　actively　suppress　the　vibration　in　the　presence　of　parameter　uncertainty.　Copyright　©　2009　by　ASME.