Abstract: A rapid attitude maneuver method of flexible satellite based on control moment gyroscope was presented. Combining the attitude dynamical equation, kinematic equation and vibration equation of flexible parts, the nonlinear predictive equation was given. Based on the optimization objective including tracking error, the energy of control moment and the energy of flexible parts, the nonlinear model predictive control method was used to propose the attitude maneuver law which had the rapid maneuver performance and attenuate the vibration of flexible parts. To further attenuate the flexible part's vibration, the input shaping method was applied to obtain the actual commands of control moment. Based on the actual control commands, the steering law of CMG pyramidal configuration was designed using the robust inverse approach, and achieved the moving optimization control of flexible satellite attitude maneuver. Simulation result indicates that, the designed control method can achieve 50 large attitude maneuver in 27 s, and the corresponding pointing accuracy and stability are 0.03and 0.03()/s.