This paper proposes a feedback control method for the in-plane motion of a satellite equipped with two thrusters, whose force directions are fixed to the satellite. The satellite's equations of motion have second-order nonholonomic constraints. This paper utilizes an invariant manifold and develops a feedback controller based on the Lyapunov's second method. The developed controller can control the satellite's state composed of six components for the position and attitude angle by two thruster systems. Furthermore, the controller has robustness for the system's modeling errors. Some simulations results are shown to demonstrate the effectiveness of the developed controller.