  The cooperative control applied to vehicles allows the optimization of
traffic on the roads. There are many aspects to consider in the case of the
operation of autonomous vehicles on highways since there are different external
parameters that can be involved in the analysis of a network. In this paper, we
present the design and simulation of adaptive control for a platoon with
heterogeneous vehicles, taking into account that not all vehicles can
communicate their control input, and in turn include structured nonlinear
uncertainty input parameters.
