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It discusses the control problem of the free-floating space robot to track desired trajectory in joint space.Combining the advantages of time delay estimation control and robust H∞ control, the tracking control scheme based on time delay estimation robust H∞ is proposed.The mentioned control scheme doesn t contain dynamic model,which avoid real-time online calculation for the inverse dynamics of space robot.We achieve unknown dynamics of space robot system online and compensate control process by using time delay estimation.