## 1 Introduction  
Nowadays, because of factors like solar panels that fail to unfold, communication failure, exhaustion of thruster fuel, collision, etc., many spacecraft have decayed and become non-cooperative target like space debris. In order to improve the utilization value of space and save on costs to the aerospace industry, research and development for on-orbit service are ever-increasing. For example, the Cubesat Proximity Operations Demonstration (CPOD) implemented an on-orbit demonstration of rendezvous, proximity operations and docking of two 3U Cubesats [1]; MEV-1 completed the proximity operation to IS-901 satellite, and inserted the docking mechanism into the throat of IS-901 engine nozzle to realize rendezvous and docking; the RemoveDebris mission has successfully demonstrated on-orbit net and harpoon capture and the whole sequence of operations like vision-based navigation for the purpose of Active Debris Removal (ADR) [2]; also the e.Deorbit project has planned to testing technology to clear out space debris [3]. Proximity maneuvers are the premise of providing on-orbit services such as maintenance, filling, and taking over. Convergence and high efficiency of APF has been theoretically proven, and the APF can be applied to path planning of autonomous proximity maneuvers. With the APF, the motion space of spacecraft can be modeled using a potential field, where a high potential field represents the dead zone and the lower the potential field, the freer the movement [4]. Thus, spacecraft can implement proximity and docking maneuvers along the negative gradient of the APF. [PERSON] etal. [5] proposed a guidance algorithm, which combined linear quadratic regulator (LQR) with APF method, and the effectiveness has been verified on the Space-borne Autonomous Formation Flying Experiment (SAFFE). In order to overcome the adverse effects of disturbances and uncertainties in the space environment, a method that combines APF with sliding mode control (SMC) was proposed to ensure collision avoidance in proximity and docking maneuvers with strong robustness and fast convergence [6; 7; 8; 9]. Moreover, adaptive control methods are also widely employed with APF and SMC for better response to disturbances and uncertainties in space [10]. However, failed spacecraft in space are often unable to maintain a stable attitude or rotation. For a rotating target, [PERSON] et al. [11] analyzed the reachability of planar docking with a rotating target, and the reachability was found to depend on a set of initial conditions, which is related to the rotating angular velocity and control force amplitude. [PERSON] et al. [12] proposed an onboard trajectory planning generated by a direct optimization method, which is based on the inversion of the system dynamics for autonomous docking between a controlled spacecraft and an uncontrolled tumbling target in circular orbit. Moreover, the problem of minimum-time and minimum-energy optimal trajectories of proximity of a powered chaser and a non-cooperative target attracted a lot of attention [13; 14; 15]. In this paper, the target's attitude change is considered into the dynamic model and is expressed in the body coordinate system. Then a controller is designed to achieve safe proximity operation to the rotating target. The method can integrate the target's attitude change into the orbital dynamics and will simplify the controller design. In practice, spacecraft are often composed of large solar panels, for the purpose of generating as much solar energy as possible, and antennas with different lengths, for communication. The complex shape will increase the risk of collision in proximity and docking maneuvers, especially when the target fails and cannot cooperate to complete maneuvers. To address this issue, some scholars use the geometric envelope method to describe the basic shape of the spacecraft, such as ellipsoid envelope [16] and super quadratic envelope [17], which ignored the details of the spacecraft shape.