In view of the problems of control error caused by parameter uncertainty in vehicle platoon modeling and the stability of the following vehicles in vehicle platoon, a robust MPC controller and a slip rate controller are designed to improve the control accuracy and stability of the following vehicles in vehicle platoon. Firstly, the longitudinal MPC controller is presented to improve the vehicle platoon control accuracy. At the same time, in order to prevent the tire slip of the following vehicles, a MPC slip rate controller is designed to control the tire slip rate of the following vehicle, which ensures the longitudinal stability of the following vehicle. Finally, simulation experiments are carried out to verify its effectiveness. The simulation results show that compared with the traditional LQR and MPC controllers, the improved robust MPC longitudinal controller has higher control accuracy, and the MPC slip rate controller can prevent the tire sliding of the following vehicle, ensuring the longitudinal stability of the following vehicle.