A robust coupled six degree of the freedom integrated orbit and attitude control model is derived in the body fixed coordinate of the chaser spacecraft. Relative translation and attitude dynamics are both presented, and further the thruster layout is considered. This model avoids that the proposed control forces need to be transformed to the body fixed coordinate. Based on this model, a nonlinear robust integrated orbit and attitude control law is proposed by using input-
to-state stability(ISS) in the presence of unknown bounded disturbance. Based on the obtained integrated control law, the desired force is produced to achieve robust tracking of a spacecraft target, and suppressing the unknown bounded disturbance. Finally, the algorithm is tested by using computer simulations against a spacecraft target in elliptic orbit.