Abstract: Extra-Vehicular Activity (EVA) is one kind of aided devices for astronaut's acting out of the spacecraft. Because of the mass property uncertainties and variations, the attitude control of EVA is a nonlinear and time variant control system with the uncertain parameters. This paper presents the study for direct adaptive angular velocity tracking (AAVT) control of EVA with the command generator tracker (CGT) method. Based on the AAVT, an adaptive attitude control method of EVA is presented. Simulation shows that the adaptive control with CGT has good robustness. The tracking precision of angular velocity is 0.1 deg/s; precision of attitude control is 0.5 deg.