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Tao, T. (author), Jain, V. (author), Baldi, S. (author)Adaptive CACC strategies have been recently proposed to stabilize a platoon with non-identical and uncertain vehicle dynamics (heterogeneous platoon). This work proposes a method to augment such strategies with a mechanism coping with saturation constraints (i.e. engine constraints). In fact, in a platoon of heterogeneous vehicles, engine...journal article 2019