Abstract: For the space manipulator with an attitude-controlled base, the parameters of the adaptive control is generally driven by tracking errors. But except of tracking errors, the prediction errors also include parameter information. The detailed analysis of the dynamic characteristics of the space manipulator with an attitude-controlled base is provided, the prediction model for the system is developed, and a composite adaptive control algorithm in which the parameters is driven by both tracking errors and prediction errors is presented. Results on global asymptotic and quick tracking convergence are established and confirmed by simulation.