in AHS(Automated Highway Systems) project which is one of the ITS (Intelligent Highway Systems), the platoon control is developed. in this paper, a platoon control law based on Adaptive Neural Network (ANN) to lower level and Semi-Autonomous Adaptive Cruise Control (SAACC) to upper level is proposed. Moreover, there is "Delay" with the communication and the sensor. We design their compensators, and did stability analysis that takes those error into consideration. We confirmed that the closed loop system is stable, and confirmed the effectiveness in the numerical simulation.