Agile attitude maneuver is a basic requirement for next generation imaging spacecraft,and Control Moment Gyroscope(CMG)is an effective candidate for large space station and agile spacecraft attitude control because of its torque amplification capability.This paper provides a thorough survey of Single Gimbal Control Moment Gyroscope(SGCMG)in terms of configuration,evaluation,modeling,singularity analysis and steering logic,etc.For specific space missions,CMGs are logically mounted into different particular arrays which can be optimally chosen by the proposed evaluation methods.From the dynamics model we find a tough inverse mapping problem which suffers the inherent geometric singularity.Different techniques and theories are applied for singularity analysis and CMG steering logics.The pyramid CMG cluster and singular robust logics are proved to enhance the agility of spacecraft.This work provides a systematic framework of SGCMG for agile spacecraft control with lots of illustrative examples,tables and figures,and will evoke further investigation for future missions. Agile attitude maneuver is a basic requirement for next generation imaging spacecraft, and Control Moment Gyroscope (CMG) is an effective candidate for large space station and agile spacecraft attitude control because of its torque amplification capability. This paper provides a thorough survey of Single Gimbal Control Moment Gyroscope (SGCMG) in terms of configuration, evaluation, modeling, singularity analysis and steering logic, etc.For specific space missions, CMGs are logically mounted into different particular arrays which can be optimally chosen by the proposed evaluation methods. Dynamics of the dynamics model we find a tough inverse mapping problem which suffers the inherent geometric singularity. Different techniques and theories are applied for singularity analysis and CMG steering logics. The pyramid CMG cluster and singular robust logics are prove to enhance the agility of spacecraft. This work provides a systematic framework of SGCMG for agile spacecraft control with lots of exemplary exam ples, tables and figures, and will evoke further investigation for future missions.