Attitude and momentum control for agile satellite was investigated.In the presence of the saturation singularity of Double Gimbaled Control Momentum Gyroscope(DGCMG) we proposed an attitude and momentum controller based on the theory of Lyapunov.Firstly the satellite dynamic model with 2 DGCMGs in parallel configuration was constructed and the singularity visualization analysis of the DGCMGs based on the torque equation was given.There are two kinds of singularity type inner singularity and saturation singularity.The former can be avoided by using steering law and the later can only be solved by using the desaturation method.In order to avoid the problem caused by desaturation method the attitude and momentum controller was given.Besides sigmoid function was used to modify the controller parameter selection for the purpose of shortening the stabilization time.The controller can accomplish the assignment of rapid maneuver and quick stability while keeping the tradeoff between the attitude control and momentum management.Simulation results are given to show the validity of the proposed controller.