The emergence of the New Space era has led to a rapidly increasing number of satellites in Low Earth Orbit (LEO). Consequently, more stringent deorbiting requirements have recently been imposed to avoid the Kessler syndrome in LEO. This has resulted in the proposal of new concepts for space debris removal, including attaching CubeSats to space debris as a promising mitigation strategy. The initial phase of this strategy involves stabilizing and controlling the debris’ attitude. This paper proposes an attitude control design for decommissioned satellites using attached CubeSats with staged ion electrospray engines (iESE). The compact design of iESE combined with staging provides increased reliability and mission durations. The large uncertainty in the dynamics of the combined system, i.e. satellite and attached CubeSats, poses a significant challenge to the control design. The approach taken here uses the robust control framework, specifically μ-synthesis, to tackle this challenge. The feasibility of the approach is demonstrated on a decommissioned satellite with multiple flexile appendages.