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Satellite formations offer more powerful and robust architectures than a single, traditional large satellite. Investigations into the relative attitude control of satellite formations are important for the applications of future space missions. This article addresses two issues concerning the coordinated attitude control of satellite formation flying: (1) decentralized coordination strategies of multiple satellites flying in formation and (2) coordinated controller design. Under the assumption that the relative position and attitude are known, a fully decentralized variable uncertainties and environmental disturbance torques and achieve the attitude coordination among the multiple satellites flying in formation.