The concept of the bidirectional platoon control system is developed,which enjoys significant advantages over present day adaptive cruise control systems in terms of string stability,tracking safety and fuel economy.A novel bidirectional platoon control system model is established,in which the effect of actuator saturation and time-varying delay is involved.Based on the new model,a H∞ controller is presented that can robustly stabilize the vehicular platoon system only use information from their immediate neighbors.The theoretical results show that the proposed system would be able to safely maintain a smaller inter-vehicle spacing and would be bidirectional string stable.The advantage of the presented methodology are demonstrated by experiments with laboratory scale Arduino cars.