Due to their passive mechanical design characteristics， most space vehicle docking mechanisms that have already been in orbit can only be designed and developed for a fixed tonnage docking task. The manned lunar exploration mission and space station docking mission， due to their complexity， require the docking mechanism to have the ability to adapt to multiple tasks， tonnage， and working conditions. In the planning of these tasks， there is a requirement for the docking combination of various tonnage active and passive aircraft. The carefully designed passive mechanical docking mechanism with spring damping and differential combination system cannot simultaneously complete the docking tasks of large-to-small and small-to-large tonnage space vehicles， and traditional gain planning tracking control laws cannot meet the dynamic control requirements of fast transient response and high-precision control. Most existing kinematic tracking control methods require an empirical parameter tuning process， and are often cumbersome and prone to system instability. In the context of these missions， there is an urgent need to develop a type of active motor driven docking mechanism with precise dynamic control performance. This article proposes a position and attitude tracking control method for an active motor driven docking mechanism based on the nonlinear dynamic inversion method， and conducts simulation verification. The joint simulation test results of multi-body dynamics and control systems show that the nonlinear control law designed in this paper can achieve the established control objectives. Compared with traditional methods， it can perform precise dynamic control with fast response， higher accuracy， and no need for repeated parameter tuning. This provides a reference for the subsequent engineering research and development stage.