L.,
There are more questions than answers for your request. Did this just start recently or has it been going on for his whole life? How is his diet, sleep patterns, exercise? Does this happen at school, church, sports (or whatever) or just at home? I would be curious if maybe expectations were set too high on even just one thing so he is refusing to cooperate on everything?
It sounds like development and self-protection (in a non-productive but very adolescent way), maybe even temperment, as opposed to pathology (I doubt there is anything WRONG with him). He needs to start learning to advocate for his needs and probably how to balance what his needs are with what your expectations are of him. You probably say, "Use your words" to your 2-year old? Same concept except your 10 year old's defenses are getting tougher to crack.
If you want to "nip this behavior", I would recommend - in a soft moment that most 10 year old boys still have once in a while- ask him how he is feeling during those times (probably nagged) and how he would like to be asked to do things. You mention alot of talking but how much listening is going on? It may take a while for him to open up because he may not trust that you will not blow up at him.
To gain his trust maybe tell him what you think your part of the power struggle is and how you want to improve too. It takes two to tango! He still has to do what you ask but wouldn't you rather speak his language and have success? Ask him what would help - writing down a list that he can complete within reasonable limits? One thing about requests (and this applies to husbands too), if we ask them to do something, we have to allow them to do it their way (within reason). I wanted my laundry folded so I have to be OK with a linen closet that, let's just say doesn't look like Martha Stewart's. We can't control everything.
He has to trust you and think you are on his side if the behavior is going to change. He sounds very frustrated and unable to communicate his needs. You can help him through it - and the next thing, and the next thing, if you take the time. 13 won't be bad for you guys at all if you become his supporter.
He is still going to drive you crazy for a long, long time. Try to learn from him. My daughter is similar (now 16). She can "move on" so fast. I finally decided that I need to learn that from her too. I'm better but still linger on hurts. It's really silly and only hurts myself. I'm getting better though. Kids raise us and much as we raise them in some instances.
Good luck.