Abstract: A new attitude control method for single gimbal control moment gyros (SGCMGs) that is based on angular momentum domain is presented. In this method, the attitude error is translated to SGCMGs’ angular momentum requirement (rather than torque requirement) without having to consider singularities. With double parallel SGCMGs, the SGCMGs are free to perform their eigenaxis time optimal path, when the RWs compensate for the variable unexpected system angular momentum bias. Meanwhile, similar strategy is designed for single gyro failure. Numerical simulations demonstrate that control law in angular momentum domain does not involving singularity, meanwhile with the capability of rapid maneuver and high-level stabilization.