This paper presents a non-linear adaptive controller for the multiple spacecraft formation flying problem. The formulation allows for gravitational field models of arbitrary order, and a broad class of linearly parameterized external disturbance force models. This paper builds upon previous results using feedback of the filtered error. Making use of Barbalat's lemma, a broad class of controllers feeding back the filtered error is obtained, which encompasses the linear feedback that is typically used in the literature. In particular, conditions are presented under which the linear feedback is asymptotically stable under actuator saturation. The resulting controller performance is demonstrated with a numerical simulation for a relative orbit under J2 perturbations.