This paper considers the problem of relative position control for multiple
spacecraft formation Eying. Specifically, the full nonlinear dynamics descr
ibing the relative positioning of multiple spacecraft formation Eying are u
sed to develop a Lyapunov-based, nonlinear, adaptive control law that guara
ntees global asymptotic convergence of the position tracking error in the p
resence of unknown, constant, or slow-varying spacecraft masses, disturbanc
e forces, and gravity forces. Simulation results are included to illustrate
the controller performance.