To provide a moving body control system which suitably controls a motor and the behavior of a moving body such as a robot driven by the motor as a power source, even if an abnormality temporarily occurs in communication of a control unit for controlling the operation of the motor.

According to the control system, a variable measuring section 101 measures a secondary objective angle θ2T, i.e. a variation of a latest primary objective output θ1T stored in a first sub-control unit 121, as a variable δ. Then a determination section 102 determines whether or not the absolute value of the variable δ is in excess of a threshold value . Further if it is determined by the determination section 102 that the absolute value of the variable δ is in excess of the threshold value , a correction section 103 corrects a motor current I so as to suppress a variation of the motor current I. Thus even if an abnormality temporarily occurs in the communication between a main control unit 110 and the first sub-control unit 121 via a first communication line so that the absolute value of the variable δ is in excess of the threshold value , abrupt change of the current I to be fed to the motor 131 is suppressed.