To address the control momentum gyros(CMG) control issue, a novel steering law is proposed, characterized by the approximate differential dynamics used in the control allocation to replace the statically calculated pseudo-inverse methods. The analysis is proceeded to figure out the singularity robustness. As a result, a switching strategy is proposed to handle the singularity by replacing the allocation matrix with a nonsingular one. Numerical simulations are applied to verify the performance of the algorithm which provides better accuracy and certain singularity robustness.