When non-cooperative body attachment occurs in space, the inertia of the new combina-tion and the change of the system’s momentum are unknown. This uncertainty may lead to the instability of the spacecraft’s attitude control. In order to solve this problem, we propose an adap-tive control scheme based on the inertia estimation of the new, combined system of non-cooperative body and satellite. This method can allow the new combination of different situations to reach a stable state with a high level of precision and speed. In this paper, the stability of the adaptive con-trol scheme is proven by constructing a Lyapunov function. A simulation environment in which a non-cooperative body attaches to a satellite attaches to is constructed. The simulation shows that the attitude error converges to a small field when using the control scheme, regardless of unfavor-able cases, including unknown inertia parameters, added momentum. In addition, the simulation results show the strong robustness of the control scheme for the new combination.