This paper investigates the integrated attitude control algorithm and steering law for agile small satellites configured with control moment gyroscope(CMG).Firstly,considering the deterioration over time of the typical pyramid-shaped CMG cluster with 4 single-gimbal CMGs,the CMG dynamic model was built.Then,based on the adaptive control theory,the integrated attitude control algorithm and steering law were designed,and the asymptotic stability of the closed-loop system was proved via Lyapunov analysis.Finally,mathematical simulation has validated the solution in a satellite closed-loop attitude control system,and the simulation shows that the solution is simple and effective for attitude maneuver control of agile small satellites.