The invention relates to a 
spacecraft fault tolerance attitude cooperation tracking control method based on a normalized neural network, and belongs to the technical field of 
spacecraft formation flight. According to the method, an attitude motion model of a single 
spacecraft is built, errors are defined, a control law is designed for the model, a sliding mode function is designed, the derivative of the sliding mode function is solved, an error model is obtained, a control law based on an input normalized neural network is designed, and the states of the spacecrafts are cooperative and consistent; each spacecraft calculates the required 
control torque according to attitude information of itself and the adjacent spacecraft, the calculated 
control torque is acted on the corresponding spacecraft via an execution mechanism of each spacecraft, the 
angular velocity is solved via an obtained attitude 
dynamic equation, a unit 
quaternion attitude tracks an expected attitude via the attitude 
dynamic equation, and consistent attitude of the 
spacecraft formation is finally realized. According to the method, 
estimation errors of non-linear 
function approximation are reduced, the calculating time is reduced, and the convergence rate and the control precision of the 
system are increased.