Abstract: The self-learning control of a free-floating space flexible manipulator based on fuzzy neural network is studied. The dynamic equations of the system can be developed by using the Lagrangian assumed modal methods. Because the momentum conservation is strictly developed, the dynamics of the space flexible manipulator is nonlinear strongly. When the fuzzy control and neural network are combined, namely the fuzzy inference is realized by neural network, the fuzzy control can self-learn. Based on the results, the self-learning controller of the space flexible manipulator in a joint space is designed. The controller does not require the measuring position, the velocity as well as the acceleration of the base. And the numerical simulation is carried out, which confirms the controller proposed is feasible and effective.