Considering the condition that while manipulator is in space-floating state

the attitude is not controlled

aiming at problem of trajectory tracking and vibration suppression of manipulator in joint space

an improved control strategy for high-order sliding mode disturbance observer based on space manipulators is presented. In order to establish the kinematics mathematical model for the manipulator

the laws of momentum conservation and Lagrange equations are used. According to the end trajectory of the manipulator

design reasonable high-order sliding mode surface and sliding mode function. Simulation experiment is performed on the observer and change ideal trajectory to let it run in a complex curve. The simulation results show that the highorder sliding mode disturbance observer can effectively and accurately achieve trajectory tracking task

it can be applied to more complex workspaces.