We present control synthesis for attitude synchronization of a cluster of satellites, that are
internally actuated, using a coordinate-free approach. The control law is designed using the
notion of potential energy shaping that rests on the use of modified trace functions. The
distinguishing aspect of the internal actuation model is that the drift vector field in the system
dynamics explicitly depends on the conserved total angular momentum. The control law
presented is applicable to a general undirected graph of communication between the …