We present a spacecraft rendezvous and docking control problem with coupled dynamics and uncertainties under input saturation.

A novel switching controller is designed, which consists of a conventional adaptive neural controller dominating in the neural active region and an extra robust controller to pull back the transient outside the neural active region, so that the stability region is ensured to global.

A command filter is introduced to estimate the derivative of a virtual control input in the backstepping procedure and two auxiliary signals are used to overcome control saturation via anti-wind up technique.

Simulation example shows that the proposed control strategy has a good performance to accomplish the control objective.