This thesis presents the Multi sliding mode control of spacecrafts with hybrid dynamics, distinguishing between the part of the satellite that can be considered rigid from the parts that should be considered flexible, like the antennas. The consensus protocol between the spacecrafts has been modeled through the construction of the Laplacian matrix that describes the communication topology. The controlled system has been actuated through parallel mounted Dual-Gimbal Variable-Speed CMGs for each spacecraft, modeled from scratch. Each axis of rotation of each implemented actuator is controlled by a PID controller. The steering law defines the gimbal commands that will be the reference for the latter controller.