  This paper considers the problem of achieving attitude consensus in
spacecraft formations with bounded, time-varying communication delays between
spacecraft connected as specified by a strongly connected topology. A state
feedback con- troller is proposed and investigated using a time domain approach
(via LMIs) and a frequency domain approach (via the small-gain theorem) to
obtain delay depen- dent stability criteria to achieve the desired consensus.
Simulations are presented to demonstrate the application of the strategy in a
specific scenario.
