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Decentralized control is widely applied on a variety of manipulators.The structure of this control method is clear, and it is more suitable for the modular concept compared with centralized control method.Free-floating space manipulator model is very complex so that we will not get the accurate dynamics equation.For this problem, a decentralized adaptive sliding mode control based on fuzzy logic is proposed.For each degree of freed-floating space manipulator, the dynamics of the manipulators is represented as a set of interconnected subsystems.