PURPOSE: To achieve a good-precision feed-forward compensation, and improve a satellite attitude controlling precision by performing feed-forward compensation, and correcting it applicably when an error is included in its fed-forward items.

CONSTITUTION: For performing an attitude control of an artificial satellite by a wheel, feed-forward compensation items are determined by a feed-forward computation part 4 using a drive angle (q) and a drive angle speed q'3 of movable parts such as an antenna and a manipulator, an attitude angle error of the satellite, and angular motion quantity of the satellite 1 and the wheel. Feed- back compensation items are also determined by a feed-back computation part 5 based on the attitude angle error of the satellite, and the output of the feed- forward computation part 4 is substracted from the output of the feed-back computation part 5 to be inputted to a wheel drive part 2 for performing the attitude control of the artificial satellite 1. The size of an unknown parameter included in the feed-forward compensation items can thus be improved applicably by an attitude control error of the satellite, thereby a higher-precision attitude control of the satellite main body can be realized.