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In the proposed framework, DDPG adaptively tunes ADRC parameters, enabling robust leader-following performance under challenging conditions such as track slippage and high-frequency measurement noise. Simulation studies on a laboratory vehicle model with varying leader velocities validate the effectiveness of the method. Compared to conventional fixed-parameter ADRC, the adaptive ADRC\u2013DDPG controller achieves substantial performance gains, reducing the integral absolute error by up to 62%, the integral time absolute error by up to 63%, and the integral time square error by up to 88%. 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