Figure9

Figure 9. The relative altitude $$ (x_{12}(t), y_{12}(t), z_{12}(t))^T $$ and attitude $$ (\theta_1^{12}(t), \theta_2^{12}(t), \theta_3^{12}(t))^T $$ and their desired reference $$ (r_{x12}(t), r_{y12}(t), r_{z12}(t), r_{\theta_1, 12}(t), r_{\theta_2, 12}(t), r_{\theta_3, 12}(t))^T $$ and estimates $$ (\hat x_{12}(t), \hat y_{12}(t), \hat z_{12}(t), \hat \theta_1^{12}(t), \hat \theta_2^{12}(t), \hat \theta_3^{12}(t))^T $$ of the 12th satellite of the team.