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Aiming to ensure the stability of the spacecraft with multiuncertainties and mitigate the threat of the initial actuator saturation,a Robust Linear Quadratic Regulator (RLQR) via sliding mode guidance (SMG) for orbiting a tumbling asteroid is proposedin this paper. The orbital motion of the spacecraft near a tumbling asteroid is modelled in the body-fixed frame considering thesun-relative effects, and the orbiting control problem is formulated as a stabilization of a nonlinear time-varying system. RLQRbased on the adaptive feedback linearization is proposed to stabilize the spacecraft orbiting with the uncertainties of the asteroid’srotation and gravitational field. In order to avoid the initial actuator saturation, SMG is applied to generate the transition processtrajectory of the closed-loop system. The effectiveness of the proposed control scheme is verified by the simulations of orbiting theasteroid Toutatis 4179

Robust Linear Quadratic Regulator via Sliding Mode Guidance for Spacecraft Orbiting a Tumbling Asteroid