The paper describes a method for synthesizing robust control systems for autonomous underwater vehicle-manipulator systems, which allow for high-precision movement of them along complex spatial trajectories and their stabilization at some point in the water space when performing manipulation operations in hover modes over work objects. The proposed system makes it possible to achieve this result even in the presence of uncertainties and inaccuracies in setting the parameters of dynamic models of an underwater robot, its propulsion and steering complex or manipulator by dividing the underwater vehicle control signal into two parts: the first is formed on the basis of these dynamic models with specified nominal parameters, the second provides compensation for uncertainties and inaccuracies in setting these parameters.