This paper presents a novel control scheme for trajectory tracking of valve-controlled electro-hydraulic actuators in lower limb load exoskeleton. First, the mathematical model of the electro-hydraulic system is developed in a strictly feedback form, where constant unknown mass and periodic unknown equivalent force acted on the electro-hydraulic actuator are involved. Then, under the framework of backstepping design, a controller consisting of an adaptive robust control and a repetitive learning control is proposed to learn the unknowns, respectively. The tracking convergence of the closed-loop system is proved rigorously in a Lyapunov way. Finally, the control performance of the proposed controller is verified via simuatlion.