Abstract: Toinsurethesafetyofautonomousapproachinganddockingofatumblingtargetinonorbitservicingmissions,thedynamicsandcontrolforservicingspacecraftapproachingincloseproximitywasresearched.Byintroducingthedesiredrelativepositionvectorandthepositionerrorvector,whichfiguredtherelativemotionconfiguration,anovelrelativepositiondynamicmodelwasderived.Consideringtheinstallationlocationanderrorsofdockingmechanisms,thecoupledrelativepositionandattitudedynamicmodelofapproachingwasestablished.Themotionlawofthedesiredrelativepositionvectorwasdesignedundertheconstraintofapproachingpath.Basedontheintegratedcoupleddynamicmodelandconsideringunknownboundaryinterferences,theadaptivetimevaryingslidingmodecontrollawwasproposed,andthecloseloopsystemwasprovedtobesteadybyusingoftheLyapunovstabilitytheory.Simulationresultsshowthattheapproachofdesigningthedesiredrelativepositionvectorcancontroltheconfigurationchangesoftherelativemotion，andtheadaptivetimevaryingslidingmodecontrollawachievesacomparativelyhighprecision.Andthecoupledmodelandthecontrollawareeffectivewithperfectperformance.

Key words: Tumblingtarget, Control, Desiredrelativepositionvector, Servicingspacecraft