Abstract: The key to implementing automatic driving of urban rail transit trains is to track and control the speed curve of urban rail train operation. This paper analyzed the forces acting on the operation of urban rail train, established a single-particle dynamic model of urban rail train, and designed a sliding mode adaptive speed tracking controller to implement tracking control of the speed curve of urban rail train operation. The paper also took the data of urban rail train on Guangzhou Line 22 as the research object and conducted simulation experiments to verify the effectiveness of the sliding mode adaptive speed tracking controller.