The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) human-driven (HDVs) coexist. Compared with pure CAVs, the major challenge how to handle prediction uncertainty HDVs, which can cause significant state deviation CAVs from planned trajectories. In most existing studies, model predictive (MPC) utilized replan CAVs' tr...

An increasing number of applications ranging from multi-vehicle systems, largescale process control systems, transportation systems to smart grids call for the development of cooperative control theory. Meanwhile, when designing the cooperative controller, the state and control constraints, ubiquitously existing in the physical system, have to be respected. Model predictive control (MPC) is one...