In this paper,we derived the attitude and orbit coupled nonlinear dynamic model of six degrees of freedom,based on the coupled relationship between relative orbit and attitude of spacecraft formation. The orbit is based on the following spacecraft flying around the reference spacecraft. Space perturbation,a variety of disturbance torque and model uncertainty were considered. Power reaching law sliding mode variable structure control was used to design an attitude and orbit coupling cooperative controller,and to achieve synchronization control of the relative orbit and relative attitude. Lyapunov function was used to prove the stability of the system. The simulation results denoted that the spacecrafts can run along the ideal orbit and relative attitude can be stable quickly. Convergence time is about 400s, the maximum error is about 0.2%. It denoted that the following spacecraft has good orbit and attitude tracking capabilities to the reference spacecraft.%针对伴随航天器对参考航天器绕飞的模型，考虑航天器编队飞行相对姿态与相对轨道之间的耦合关系，建立了姿轨耦合六自由度非线性动力学模型，针对空间摄动和多种干扰力矩以及模型不确定性因素的影响，利用幂次趋近律滑模变结构控制方法，设计了一种姿轨耦合协同控制器，来实现编队飞行相对姿态与相对轨道的同步控制，并利用 Lyapunov 函数证明了系统的稳定性。仿真结果表明，在空间摄动的不断干扰下，航天器可以沿着理想的相对轨道运行，相对姿态具有快速稳定性，收敛时间约为500s，最大误差量约为0.2%，可以得出伴随航天器对参考航天器具有良好的轨道与姿态跟踪能力。
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