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To my family Over the last few decades, congested traffic network have become a seri-ous problem in many countries. Congestions result in time losses, increase of fuel consumption, increase of CO2 emissions and also raise the risk of accidents. While developing the road networks is not a feasible solution in many countries, intelligent transportation systems (ITS) may contribute to mitigate such problems. It is known that human errors or the delay in human’s reactions is the main cause of many of the problem in current transportation systems. Hence, cooperative driving or in particular vehicle platooning is an example of an ITS which exploits advanced technology like, on-board vehicle sensors, wireless communication and control engineering to improve the traffic situation. However, development of such complex system requires a reliable control algorithm which can guarantee passenger safety and comfort while satisfying certain specifications. This thesis deal