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A decentralized control algorithm for the construction of a tetrahedral configuration using differential lift and drag forces is proposed in this paper. Four 3U CubeSats launched in LEO are considered. Satellite attitude-controlled motion relative to the incoming airflow provides the required differential forces in order to change the relative translational motion. The developed control algorithm allows one to track the relative reference trajectories for the satellites at the vertices of the tetrahedron of the required shape and size. The influence of the initial launch conditions on the controlled tetrahedral motion is studied in this paper.

Decentralized Control of Nanosatellite Tetrahedral Formation Flying Using Aerodynamic Forces