A new attitude controller is proposed in this paper considering variable flywheels output torque saturation limit. Control model is discussed while the time-varying and state-dependent torque saturation limit is derived. The new controller is similar to linear assignment of torque limit and covers attitude feedback information. With Lyapunov method, the asymptotic convergence of controlled system states is proved. The auxiliary parameter contained in the controller is guaranteed to be bounded to make sure that the control objective can be achieved. All of the simulation results validate the analysis and controller.