To solve the problem of attitude synchronization for spacecraft formation with communication time-varying delays, this paper investigates a distributed attitude coordination tracking control strategy in which a directed graph contains a spanning tree with the leader as the root. Based on second-order consensus algorithm and graph theory, we propose a novel distributed attitude coordination control approach, which can regulate the attitude of spacecraft to a common time-varying reference states in case of time-varying delays. And the stability of the system is proved via Lyapunov Razumikhin theory. Simulation results demonstrate the effectiveness of the proposed control approach.
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