I have a 10 year-old ds. He has his moments (or weeks!) but, thank goodness, he is nothing like as bad as your ds. Poor you.
Ok, this is how I would deal with it, having taken some brilliant tips from a friend who has two fantastic, well-rounded 20-somethings...
Change his bedtime routine and make sure he is sleeping by at leass 9.30pm, ideally 9pm.
The clothes on the floor thing: ask him to put them in the wash. If he doesn't, leave them there. Don't wash them unless he puts them in the basket. Don't nag or keep on at him. Leave them there, its hard, but follow it through. Then, the next time he wants to wear said items, he won't be able to because they're still dirty on the floor. He won't be happy with this, but it will teach him that clothes don't get washed by magic.
If he's rude/uncontrollable, give a warning and then withdraw an activity, such as football or scouts and stick to it. Do not let him go that week.
Homework: this one should rectify itself. Remind him ONCE that he has it to do, then leave it at that. If he doesn't do it, he'll be in trouble at school and that's not your problem.
Stick to your breakfast rule. If he's not down by 8am, no egg sandwich. Ignore his moaning, like you are already doing.
I know this all sounds easier than it actually is, but you have to be tough.
I hope he starts being nicer soon. ds is 1o and a half and I quite like him at the moment, but a few months ago was a different story. I am waiting/dreading the next round of hormones!
Good luck.