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This paper presents a new methodology for autonomous precision control of satellite formations in the presence of uncertainties and external disturbances. The methodology is developed in two steps. First, using a nominal system model that provides the best assessment of real-life uncertainties, a nonlinear controller that satisfies the formation configuration requirements is developed without making any linearizations/approximations. This closed-form control strategy is inspired by results from analytical dynamics and uses the fundamental equation of constrained motion. In the second step, an adaptive continuous robust controller is developed to compensate for model uncertainties and field disturbances to which the satellite formation may be subjected. This controller is based on a generalization of the concept of sliding mode control, and produces no chattering. The control gain is automatically updated in real …