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The variable structure control (VSC) with sliding mode is presented to design a tracking control law to ensure the fast and accurate response and robustness of guidance law in this paper. First, the small body dynamic equation is deduced in the landing site coordinate system. Second, the desired trajectory is planned in the condition of safe soft landing constraints. Third, the guidance law based on VSC is designed to track the desired trajectory and succeed in landing on the surface of small body. Finally, the guidance and control algorithm is formed and the effectiveness of algorithm is verified by numerical Monte Carlo simulations.