First of all, you really are better off using a modem with a UART or RS232 interface rather than a USB as you don't really need USB speed for a standard GSM modem calling SMS commands, and USB isn't easy to interface to, especially as a host.
Your controller of choice will need a USB host, OTG may be sufficient, but you will need to figure out how to talk to the USB modem.
If you wish to rethink your design with a UART / RS232 interface then there are plenty of threads in this forum and a few open source projects that will help you, just use the search bar.