The multi-body tethered satellite formation system has the advantages of wide observation range， strong maneuverability and stability due to tethers. It is employed to realize deep space exploration， atmospheric exploration， space debris cleaning and other space operations. Three-body tethered satellite formation system is a triangle-shaped formation system in which three satellites are connected head to tail at one time through tethered cables， which can maintain the relative position stability in space through rotation. In the existing theoretical research on the three-body rope formation system， most of them regard the satellite as a particle to simplify the dynamic model， which is， however， quite different from the actual situation. In order to conform to the actual situation and consider the influence of satellite rigid body attitude， the Newton-Euler method is adopted to establish the coupling dynamic model of three-body tether formation system. Based on the quaternion method， the singular value which makes the equation unsolvable is avoided， the influence of space environment and tethered quality are ignored， and the dynamic model which considers the influence of tethered tension is established. By employing the existing dynamic model， and also changing the position of the tether connection， the dynamic simulation analysis was carried out with different initial conditions， and the dynamic response was then obtained. When the position of the tether connection of the system is not located at the center of mass of the satellite rigid body， the torque generated by the tether tension will cause instability of the satellite attitude， thus adversely affecting the routine operation of the system. Therefore， the satellite attitude is controlled by active control methods， such as variable structure control method and single-neuron adaptive PID control method， with the effectiveness of the control law being verified by simulation.