The attitude of a spacecraft is its orientation in space. The orientation is with respect to a particular reference like the Earth and Sun . The spacecraft is considered to be a rigid body whose attitude can be described by two sets of equations, namely, the kinematics equation, which relates the time derivatives of the orientation angles to the an- gular velocity vector and the dynamics equation, which describes the time evolution of the angular velocity vector [2, 3]. Various parameterizations of the attitude exist to represent the orientation angles. A comprehensive survey of attitude representations is given in . The attitude control problem was first presented in the literature in . A general procedure for the design and analysis of a three-axis, large-angle attitude control system was developed based on properties common to all attitude control systems. In , a general framework is prepared for the analysis of attitude tracking control of a rigid body using the non- singular unit quaternion representation. An adaptive tracking control scheme wherein the unknown spacecraft inertia matrix is compensated using linear parameterization is discussed in . Reference  proposes an adaptive attitude tracking controller that identifies the inertia matrix via periodic command signals. Reference  discusses the adaptive attitude tracking control using synthesized velocity from attitude measurements by incorporating a velocity filter formulation.