  This paper considers constrained spacecraft rendezvous and docking (RVD) in
the setting of the Bicircular Restricted Four-Body Problem (BCR4BP), while
accounting for attitude dynamics. We consider Line of Sight (LoS) cone
constraints, thrust limits, thrust direction limits, and approach velocity
constraints during RVD missions in a near rectilinear halo orbit (NRHO) in the
Sun-Earth-Moon system. To enforce the constraints, the Time Shift Governor
(TSG), which uses a time-shifted Chief spacecraft trajectory as a target
reference for the Deputy spacecraft, is employed. The time shift is gradually
reduced to zero so that the virtual target gradually evolves towards the Chief
spacecraft as time goes by, and the RVD mission objective can be achieved.
Numerical simulation results are reported to validate the proposed control
method.
