Anyone remember, "Hard Time on Planet Earth", starring Matrin Kove?

Vaugely...

Same here. I remember the name and I remember Martin, but I can't seem to remember watching it.

Yeah actually I do remember this show. Well, mostly.

The lead character was an elite soldier from an interplanetary war. After the war was finished the ruling council decide whether or not to destroy him, but instead sent him to Earth as a human to rehabilitate.

Control was a flying robotic companion that kept an eye on him and reported back on his progress.