O.V. Druzhinina, V.N. Shchennikov, E.V. Shchennikova
Algorithms of optimal stabilization of programmed motion of complicated manipulating systems is constructed. The properties of stabi-lizing control and form of integrand in criteria of quality of transient are used taking into account that subsystems are asymptotically sta-ble. Optimal control is synthesized at the level of the initial system. The results can be used in problems of control of motion of compli-cated spatial mechanisms, and also in problems of stabilization of motion of multiply connected systems of different types.