In　order　to　satisfy　the　requirement　of　agile　and　precise　performance　of　flexible　spacecraft　during　an　orientating　maneuver　with　a　large　angle　of　rotation,　an　Adaptive　Disturbance　Rejection　Filter　(ADRF)　combined　with　Optimal　Input　Shaping　(OIS)　control　law　is　developed　for　a　rigid　space　platform　with　flexible　manipulator.　OIS　based　smoothing　method　is　applied　to　the　flexible　manipulator　to　suppress　the　vibrating　motion　of　the　flexible　appendage　and　alleviate　effect　of　it　on　the　platform　primarily.　Furthermore,　the　mitigation　of　periodic　disturbance　is　caused　by　the　excitation　of　flexible　appendages.　The　mitigation　is　studied　by　disturbance-rejection　filter.　The　filter　considers　the　inevitable　existence　of　nonlinear　coupling　between　the　platform　motion　and　manipulator　vibration　motion,　the　disturbance　frequency　is　an　important　factor　need　to　be　intensively　studies.　We　present　an　Adaptive　Notch　Filter(ANF)　that　is　based　on　close-loop　system　identification　method.　The　filter　helps　identify　the　disturbance　frequency　and　update　the　parameters　of　the　DRF　adaptively.　Simulation　results　confirm　the　ability　of　the　proposed　controller　in　high-speed　and　precise　attitude　switching　maneuver　while　suppressing　the　manipulator　vibration.　©　2012　IEEE.