Rendez-vous and docking (RVD) is an orbital manoeuvre whose aim consists of allowing an active spacecraft, the so-called chaser, to approach a passive one, the target. The outcome of the said procedure, if successful, is the structural connection between the two vehicles. This manoeuvre, in the framework of small satellites, has never been performed before, hence this problem opens the field to a broad set of possible solutions. The focus of this work is on the final phases of the RVD manoeuvre, as these constitute the most critical part, from a control perspective, because of the extremely high accuracy expected on position, velocity and attitude accuracy.