Electromagnetic formation flight (EMFF) uses the electromagnetic force to control the relative positions of multiple satellites without using conventional fuel-based propulsion. To compensate for the electromagnetic torque generated alongside the electromagnetic force, in most previous studies, all satellites were assumed to have reaction wheels (RWs) besides electromagnetic coils. However, the RW-loaded angular momentum becomes nonuniformly distributed among the satellites, because the electromagnetic torque usually differs between satellites. Without a proper control scheme, this deviation increases over time, and the RWs become saturated quickly, preventing the attitudes of the satellites from being controlled. In this study, a new controller is proposed that enables the electromagnetic force and torque to be controlled simultaneously. The EMFF kinematics derived from the conservation of angular momentum are used for the controller design. This controller can control $n$ satellites without saturating the RWs, and only one set of RWs is required among all satellites. The combination of the proposed controller with a simple unloading control exclusive to the chief satellite results in the elimination of the accumulation of angular momentum in the entire system. The effectiveness of the proposed controller is demonstrated through numerical simulations of the formation maintenance and formation reconfiguration of a five-satellite system.

电磁编队飞行（EMFF）利用电磁力来控制多颗卫星的相对位置，而不使用传统的燃料推进。为了补偿与电磁力一起产生的电磁扭矩，在大多数先前的研究中，除了电磁线圈外，所有卫星都被假定具有反作用轮（RW）。然而，加载 RW 的角动量在卫星之间变得不均匀分布，因为电磁扭矩通常在卫星之间不同。如果没有适当的控制方案，这种偏差会随着时间的推移而增加，并且 RW 很快就会饱和，从而无法控制卫星的姿态。在这项研究中，提出了一种新的控制器，可以同时控制电磁力和扭矩。源自角动量守恒的 EMFF 运动学用于控制器设计。这个控制器可以控制$n$不使 RW 饱和的卫星，并且所有卫星中只需要一组 RW。所提出的控制器与主卫星独有的简单卸载控制相结合，消除了整个系统中角动量的积累。通过对五颗卫星系统的编队维护和编队重构进行数值模拟，证明了所提出的控制器的有效性。