  This paper is about obtaining stable vehicle platooning by using Cooperative
Adaptive Cruise Control when the communication is unreliable and suffers from
message losses. We model communication losses as independent random events and
we propose an original design for the cooperative controller, which mitigates
the effect of losses. This objective is obtained by a switching controller that
has a twofold objective: on the one hand, it promotes both plant stability and
string stability of the average error dynamics by an $H_infty$ approach, and on
the other hand it minimizes the variance around the average. We show by
simulations that the proposed controller is able to compensate even for high
probability of losses.
