<p>In this paper, a Robust Model Predictive Control (RMPC) method for orbit maintenance of low earth orbit (LEO) satellites with Hall-effect thrusters (HET) is developed. Due to the ability to produce continuous time thrust by the Hall effect thruster, continuous control commands which are updated online are applied to the satellite for the mission. The proposed RMPC method also accounts for loss of thruster effectiveness to enhance system performance despite the potential unknown efficiency decreases. This approach ensures the robust stability and H-infinity performance despite various unknown external disturbances like the Earth’s non-spherical gravitational field, atmospheric drag, solar and lunar gravity, and solar radiation pressure perturbations. Furthermore, uncertainties are incorporated to capture variable flight parameters and the osculating behavior of orbital elements. The cost function is defined to minimize fuel consumption and counteract disturbance effects. Multiple constraints, such as limited HET force production and orbit maintenance within an allowable window, are included in the optimization problem. The control design also addresses misalignments, and errors from thrusters. Furthermore, we will demonstrate in the paper that the proposed RMPC method achieves a reduction of approximately 65% in monthly fuel consumption and a 58–93% decrease in the RMS of orbital elements errors compared with the LQR controller. Through numerical simulations, the effectiveness and validity of this control method are confirmed.</p>