This paper studies the longitudinal control of a group of vehicles following a lead vehicle. A 
neighbor based upper level controller is proposed by considering communication delay and
actuator lag. Constant spacing policy is used between successive vehicles. Two different
approaches based on Lyapunov-Razumikhin and Lyapuniv-Krassovski theorems are presented to
stability analysis of closed loop dynamic. By simulation studies, it will be shown that the second
approach is less conservatism than the first one. We consider the bidirectional leader following
(BDLF) topology for inter-vehicle communication. Based on this structure, some sufficient
conditions assuring string stability of platoon is derived. At the end of paper, four different
scenarios are presented to study the robustness of algorithm against communication delay,
actuator lag, disturbance, heterogeny and communication losses. 

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