This brief investigates the control problem for a number of cooperative spacecraft with communication constraints. It is assumed that a set of cooperative local controllers corresponding to the individual spacecraft is given which satisfies the desired objectives of the formation. It is to be noted that due to the information exchange between the local controllers, the overall control structure can be considered centralized in general. However, communication in flight formation is expensive. Thus, it is desired to have some form of decentralization in control structure, which has a lower communication requirement. This decentralized controller consists of local estimators inherently, so that each local controller estimates the state of the whole formation. Necessary and sufficient conditions for the stability of the formation under the proposed decentralized controller are obtained. It is shown that the decentralized control system, if stable, behaves almost the same as its centralized counterpart. Moreover, robustness of the decentralized controller is studied and compared to that of the corresponding centralized controller. It is finally shown that the proposed decentralized controller comprises most of the features of its centralized counterpart. The efficacy of the proposed method is demonstrated through simulations.