Abstract: To address the problem of spacecraft approach and close-range formation flying with an asteroid under the influence of perturbations, the gravitational forces of the Sun and the eight major planets, solar radiation pressure, and the gravity of asteroid were considered. By analyzing the effects of these perturbations, a control method for close-range formation flying was developed, utilizing the perturbations themselves. This method implemented a cyclic “uncontrolled-controlled” strategy that either leveraged or counteracted perturbative forces to achieve formation flying control under both distance and angle constraints. First, the influences of various perturbations on the formation orbit were analyzed by controlling variables. Then, the effects of key parameters on the approach orbit were analyzed. Finally, after the formation flying position was reached, perturbations were utilized to achieve close-range formation flying, and the effectiveness of the control method across the entire orbital period was validated. Simulation results demonstrate that the proposed control method effectively achieves coordinated distance–angle control of the spacecraft, while also offering practical engineering advantages such as straightforward implementation and low propellant consumption, providing reference for China’s future near-Earth asteroid defense missions.