In this article, the authors based on the generalized algorithm of secure information exchange for wireless security systems and the secure control device for robot group developed a generalized algorithm for secure information exchange with a complicated message authentication code for wireless security systems. This algorithm is based on the use in the control unit of the programmable read-only memory control of unique identification data, in which a table of unique code sequences assigned to each controlled object is stored. Protection against imitation of transmitted commands is provided by adding to them the sum according to the XOR rule of the initial value of the first pseudo-random sequence of the PRS-1 and the unique identification data of the controlled object. Also with help of developed algorithm, with appropriate adaptation, it is possible to make it difficult for an outside observer to identify the controlled object being checked at a given moment, simultaneously perform an individual check of the required controlled object for authenticity and the availability of all controlled objects in the communication radius. The developed algorithm with a complicated message authentication code can find application in various areas of wireless security systems that require protection of the alarm and service messages transmitted over the radio channel from unauthorized access.