The attitude stability control of under actuated spacecraft that used two reaction wheels in the presence of dynamic friction disturbance is handled. A novel improved control approach with a combination of a singular control law based on quaternion and extended state observer (ESO) is employed to establish a stabilization control so as to restrain the effect of friction. The corresponding simulation results demonstrate the highly stable accuracy and performance compensated dynamic friction. Furthermore if there is a non zero initial condition in under actuated axis the attitude stability can be enhanced with a magnetic torquer. Simulations for a nano spacecraft denote a potential application value in pointing accuracy using two reaction wheels and a magnetic torquer.
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