Space manipulators are attracting increasing interest in modern space mis- sions, as they enable on-orbit servicing, debris removal, and satellite capture operations. However, the attitude control of such systems presents several challenges and remains an active research topic. In particular, the system dynamics involve nonlinearities and actuation constraints, which complicate controller design. Moreover, the rotational dynamics of the spacecraft base and the motion of the robotic manipulator are coupled through internal momentum exchange, introducing an additional level of complexity compared to rigid satellites. As a consequence, the attitude controller must explicitly account for this coupling to avoid undesired base rotations during manipulator operations.