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Considering the uncertainty of the orbit dynamics model in the small body fixed coordinate system, and the polyhedron modeling uncertainty in the gravitational potential, a fuzzy logic system is adopted to approximate the upper bound of the uncertainties. In addition, a robust control item is introduced to compensate for the approximation error of fuzzy logic system. The designed adaptive law and robust item make the closed-loop control stable and the tracking errors are convergent to zero. The controller not only guarantees the rapidity and accuracy of the desired trajectory tracking, but also enhances the robustness of the control system, improving the dynamic tracking performance for the probe soft landing on asteroids. 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