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This article presents the collision modeling and two-echelon collaborative control of a novel non-contact ultra-quiet Stewart spacecraft. It has internal instability because of its non-contact configuration. To overcome the instability, the equivalent modeling of repetitive collision process with small releasing velocity is established at first. Then, a two-echelon collaborative control is developed to guarantee both collision rejection and stability performance. Finally, the numerical simulation is conducted to demonstrate the validity and effectiveness of the proposed design.