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Specifically, for uncertain Euler\u2013Lagrange dynamic systems, two error filters are designed to obtain faster convergence for tracking errors. Then, an adaptive update law is constructed for adjusting FCNN weights online, so as to approximate unknown nonlinear component in dynamic systems. To efficiently track trajectories, a self-tuning RISE feedback controller is designed to decrease high gains and avoid chattering phenomenon. System stability is rigorously analyzed by utilizing Lyapunov technique and LaSalle\u2013Yoshizawa corollary extension, and asymptotic tracking convergence is proved. Finally, regarding robotic mechanisms, comparative tests are conducted to validate tracking performance of the proposed strategy.<\/jats:p>","DOI":"10.1177\/01423312251338885","type":"journal-article","created":{"date-parts":[[2025,5,23]],"date-time":"2025-05-23T07:47:11Z","timestamp":1747986431000},"page":"2156-2166","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Self-tuning RISE controller with adaptive FCNN compensation for asymptotic tracking of uncertain dynamic systems"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-2817-2072","authenticated-orcid":false,"given":"Can","family":"Liu","sequence":"first","affiliation":[{"name":"School of Control Science and Engineering, and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8390-3907","authenticated-orcid":false,"given":"Baoquan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Control Science and Engineering, and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fengzhi","family":"Dai","sequence":"additional","affiliation":[{"name":"College of Electronic Information and Automation, Tianjin University of Science and Technology, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wuxi","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Control Science and Engineering, and Tianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tiangong University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,5,23]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2012.09.019"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2018.06.017"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2013.6760466"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2014.6859217"},{"issue":"1","key":"e_1_3_3_6_1","first-page":"6619","article-title":"Sampled-data connectivity-preserving consensus for multiple heterogeneous Euler-Lagrange systems","volume":"22","author":"Chen C","year":"2024","unstructured":"Chen C, Gao X, Zhang H, et al. 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