The　real-time　vibration　suppression　and　composite　adaptive　control　of　coordinated　motion　for　space　flexible　manipulator　with　an　attitude-controlled　base　are　studied.　The　dynamic　equations　of　the　system　are　developed　by　using　the　Lagrangian　assumed　modes　methods.　It　is　verified　that　the　dynamic　equation　and　Jacobi　matrix　of　the　system　can　be　linearly　dependent　on　a　group　of　inertial　parameters.　Based　on　the　results　and　with　the　augmentation　approach,　a　composite　adaptive　control　of　space　flexible　manipulator　to　track　the　desired　trajectory　is　developed.　Considering　the　dynamics　of　flexible　subsystem,　a　control　scheme　is　presented　to　suppress　the　vibration　during　the　real-time　operation.　In　particular,　it　doesn＇t　require　measuring　the　position,　velocity　nor　acceleration　of　the　base　because　of　an　effective　exploitation　of　the　particular　property　of　the　system　dynamics.　The　numerical　simulation　is　carried　out,　which　confirms　the　controller　proposed　is　feasible　and　effective.　©　2010　by　ASME.