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In this paper, the attitude control of spacecraft using a pyramid-type variable-speed control moment gyro (VSCMG) system is considered. For successive attitude maneuvers, it is desirable that the wheel angular momentums are regulated to nominal values after an attitude maneuver. In addition, avoidance of reference aligned singularity (RAS) is also important. RAS is a singularity point where the singular direction of the constant-speed control moment gyro (CSCMG) system is aligned to a reference torque. Regarding the motivations, this paper proposes a steering law which achieves attitude control and regulates the wheel angular momentums while successfully avoiding RAS. Both numerical simulations and experimental verification are performed to demonstrate not only the validity of the proposed method, but also a certain robustness against unmodeled dynamics and the gravity torque. • Spacecraft attitude is controlled by variable speed control moment gyros. • Reference aligned singularities of CMGs are particularly focused in the control. • Wheel angular momentums are usually regulated to nominal values. • Effectiveness of the control law is validated in all maneuver directions. • Ground experiments are conducted in order to examine the proposed control. [ABSTRACT FROM AUTHOR]