We propose controllers for leader-follower attitude synchronization of spacecraft formations in the presence of disturbances, that is, the leader spacecraft is controlled to follow a given reference, while a follower spacecraftis controlled to synchronize its motion with the leader's. In the ideal disturbance-free scenario, we show thatsynchronization takes place asymptotically. Moreover, we show the property of uniform practical asymptotic stability whichimplies that the synchronization is robust to bounded disturbances.
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