Babaiasl, MahdiehNarikiyo, Tatsuo2023-06-162023-06-1620200020-71791366-5820https://doi.org/10.1080/00207179.2018.1494388https://hdl.handle.net/20.500.14365/1565This paper proposes a robust tracking controller for a class of nonlinear second-order systems with time-varying uncertainties. The controller is mainly based on the robust integral of the sign of the error (RISE) control approach to achieve an asymptotic stability result with a continuous control command in the presence of additive uncertainties. An adaptive feedforward neural network control term is blended with a new RISE controller to improve the system's transient performance. The proposed RISE controller is a modified version of the existing saturated RISE controller such that only sign of the derivative of the output is needed. The stability of the closed-loop system is well studied, where a local asymptotic stability is proven. The controller performance is validated through simulations on a two-degree-of-freedom lower limb robotic exoskeleton.eninfo:eu-repo/semantics/closedAccessRobust controlRISE controllerneural networksaturated controlRise Feedback-ControlRobot ManipulatorsStabilityArticle10.1080/00207179.2018.14943882-s2.0-85049888503