Rapid actuation is needed to avoid singularity state in the single-gimbal control moment gyros (SGCMG) steering logic. It consumes significant energy and produces danger for system. A novel control method for attitude maneuver combined trajectory and feedback control is proposed. Firstly, to avoid the singularity state, the pseudospectral method was used to solve the energy optimization issue. Then optimal solution of control acted as reference input, and feedback control method based on the system's limit state was used to consider the effect of uncertainty and disturbances. Feedback control predicted the state based on the numerical integration of reference input, and the error was based on the comparison of the designed state and the predicted state. Numerical simulation was carried out to verify the feasibility of the proposed method, which shows that it can avoid the singularity state, and is valid to overcome the error of the initial velocity of satellite and gimbal angular of SGCMGs. 