A method and system for activating thrusters of a vehicle for trajectory-tracking control of the vehicle. A transfer orbit generator to generate a transfer orbit for the vehicle from an initial orbit to a target orbit, and a feedback stabilization controller. Compute the target orbit for the vehicle about the celestial body. Compute a free trajectory with patch points along the free trajectory using a free trajectory module, each patch point includes a position and a velocity. Determine a feedback gain at each patch point using a feedback gain module, wherein a state penalty function at each patch point is set to match a state uncertainty function at the same patch point. Apply the feedback gain at each patch point to map the position and the velocity at each patch point to delta v commands, to maintain the target orbit using a feedback stabilization controller.