An application of a model predictive control (MPC) for a deflection limiting maneuver of a flexible structure is studied. To limit the deflection of a flexible structure to within an allowable range during maneuver, deflection-limiting control (DLC) is employed as the primary control, and MPC is combined with DLC to overcome the disadvantages of DLC, including low robustness to modeling errors and disturbances. Moreover, a simple adaptive method is used to estimate the first modal frequency that dominates the vibration motion of the flexible structure. The effectiveness of the proposed algorithm is evaluated by numerical simulations.