The rigid spacecraft attitude tracking control problem in the presence of the modeling uncertainty, external disturbance and input constraints is investigated in this paper, and a robust attitude tracking control algorithm is designed based on the combination of the sliding mode control, backstepping control, adaptive control, auxiliary system and dynamic surface control approaches. Within the proposed controller, the adaptive control technique is utilized to estimate and compensate for the unknown system uncertainty on line. A dynamic model in a low pass filter form is built up for the onboard actuators, which is then associated with the auxiliary system method to satisfy the control input magnitude and rate saturations. Moreover, the dynamic surface control(DSC) method is employed to avoid the calculation of the differentiation of the virtual control signal and simplify the closed-loop attitude tracking controller. Finally, digital simulations are conducted to further demonstrate the effectiveness and feasibility of the proposed controller.