This article focuses on the satellite attitude maneuver task with the gimbal control moment gyro (SGCMG) as the attitude control actuator.The SGCMG frame speed is used as the attitude control input，and an attitude dynamics equation considering the singular characteristics of the SGCMG is established.The SGCMG control method based on the manipulation law often generates significant torque errors，and is prone to singularity.In view of the advantage of explicitly expressing constraints in optimization methods，a predictive control method for nonlinear models based on optimization is used to constrain the singularity phenomena that need to be avoided，and a satellite attitude maneuver prediction controller is designed.Finally，a predictive controller is designed for some SGCMG failure conditions.The results show that the new nonlinear model predictive controller(NMPC)designed for satellite attitude maneuvering tasks has a strong singularity avoidance effect and avoids the disadvantage of excessive deviation between the command torque and the actual output torque in the control law.