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The proposed approach is essentially a compound control methodology, which consists of higher order sliding mode observer and fast nonsingular terminal sliding mode technique. More specifically, the higher order sliding mode observer is used to estimate the relative velocity between two spacecraft while the fast nonsingular terminal sliding mode controller is used to regulate the relative position and the relative velocity to a small region around zero in finite time. The stability and performance of the closed-loop system are also analyzed using finite-time bounded function and Lyapunov function methods. 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