A relative position and attitude coupled sliding mode controller is proposed by combining the standard super twisting(ST) control and basic linear algorithm for autonomous rendezvous and docking. It is schemed for on-orbit servicing to a tumbling noncooperative target spacecraft subjected to external disturbances.A coupled dynamic model is established including both kinematical and dynamic coupled effect of relative rotation on relative translation, which illustrates the relative movement between the docking port located in target spacecraft and another in service spacecraft. The modified super twisting(MST) control algorithm containing linear compensation items is schemed to manipulate the relative position and attitude synchronously. The correction provides more robustness and convergence velocity for dealing with linearly growing perturbations than the ST control algorithm.Moreover, the stability characteristic of closed-loop system is analyzed by Lyapunov method. Numerical simulations are adopted to verify the analysis with the comparison between MST and ST control algorithms. Simulation results demonstrate that the proposed MST controller is characterized by high precision, strong robustness and fast convergence velocity to attenuate the linearly increasing perturbations. A relative position and attitude coupled sliding mode controller is proposed by combining the standard super twisting (ST) control and basic linear algorithm for autonomous rendezvous and docking. It is schemed for on-orbit servicing to a tumbling noncooperative target spacecraft subjected to external disturbances. A coupled dynamic model is established both both kinematical and dynamic coupled effect of relative rotation on relative translation, which illustrates the relative movement between the docking port located in target spacecraft and another in service spacecraft. The modified super twisting (MST) control algorithm containing linear compensation items is schemed to manipulate the relative position and attitude synchronously. The correction provides more robustness and convergence velocity for dealing with linearly growing perturbations than the ST control algorithm. Moreover, the stability characteristic of closed-loop system is analyzed by Lyapunov method. Numerical simulati ons are adopted to verify the analysis with the comparison between MST and ST control algorithms. Simulation results demonstrate that the proposed MST controller is characterized by high precision, strong robustness and fast convergence velocity to attenuate the linearly increasing perturbations.