This paper presents a decentralized power-optimal coordination framework for magnetically actuated spacecraft swarms. Swarms that form large space structures overcome the aperture limit set by the launch vehicle and hold their shape on solar-generated power alone. Magnetic actuation is propellant-free and generated by a magnetorquer, which is commonly used for attitude control. However, every spacecraft interacts with every other within range, and its effect depends on the actuation power and a carrier frequency. We therefore design a decentralized power-optimal framework to jointly derive the interaction graph, frequency grouping, and controller gains. Our decentralized controller preserves angular momentum, which is a nonholonomic constraint. Then, this framework for connected groups whose memberships overlap across carriers guarantees that the relative position errors, the absolute attitude errors, and the imbalance of the reaction-wheel momenta converge to the desired states under the decentralized power-optimal allocation. A closed-loop simulation of a thousand spacecraft with the complete alternating-current interaction confirms the framework. A fast approximate integration with a proven error bound extends the framework to a long-horizon orbital reconfiguration held with high precision.

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