This paper deals with the problem of attitude regulation control of rigid satellite subject to control input constraints.A nonlinear controller based on the saturation function is designed to deal with the control input saturation and angular velocity constraint.Lyapunov theory is employed to prove the global asymptotic stability of the zero equilibrium points of the closed loop system and both attitude and angular velocity will tend to be zero asymptotically.The controller is derived independent of satellite inertia matrix,and the control scheme is model independent.Simulation results demonstrate the feasibility and effectiveness of the control scheme under control input constraints.