Manipulator endpoint location autonomous control procedures are suggested. A method of uplimited control hierarchy has been designed, which allows to provide a desired tracking precision under conditions of uncertainty of the control object operator and the effect of external unmeasured disturbances. Sliding mode state observers synthesis procedures have been designed, which allow, in a theoretically limited time interval, to obtain information on immeasurable variables of the state vector and available uncertainty. The results of the designed algorithms modeling are presented.