In this paper the problems of multi-agent spacecraft attitude formation and tracking control on \(TSO(3)^N\) are addressed using rotation matrices and globally continuous control protocols derived using Morse-Bott-Lyapunov functions, including a feedback reshaping strategy for enlarging the region of attraction of the desired equilibrium manifold. For attitude formation control the spacecraft comes to rest with desired relative attitudes between connected pairs according to the specified communication topology. Examples include N spacecraft with undirected ring or complete graph topologies achieving a desired balanced configuration on the circle or on SO(3). The proposed attitude formation tracking control protocol, which extends a proposed tracking controller for a single spacecraft on TSO(3), consists of one or more leaders tracking a time-varying command while the followers either achieve attitude synchronization or a desired time-varying attitude formation with the leaders.
