PURPOSE: To provide the moving body controller which approximates a moving body to the close range of an object in an unattended artificial satellite or docks it by quickly and accurately making the moving body reach a target position.

CONSTITUTION: A feature quantity predicting part 3 which predicts the feature quantity obtained by processing of the picture signal inputted from a visual sensor 1 after a determined time in accordance with a manipulated variable and a feature quantity, a manipulated variable correcting part 4 which obtains the extent of correction of the manipulated variable in accordance with the predicted feature quantity and a target feature quantity so that the predicted feature quantity coincides with the target feature quantity, a control part 5 which confirms that the manipulated variable doesn't deviate from a realizable range at the time of correcting the manipulated variable by the obtained extent of correction and reduces the extent of correction so as to prevent this deviation in the case of deviation, and an adder 6 which adds the extent of correction of the manipulated variable obtained by the manipulated variable correcting part 4 to the manipulated variable are provided.