In　the　control　problem　of　a　mixed　vehicle　platoon　including　connected　autonomous　vehicles　(CAVs)　and　human-driven　vehicles　(HDVs)　in　an　arbitrary　sequence,　the　behaviors　of　HDVs　can　not　be　described　and　predicted　by　accurate　models　because　of　disturbances　and　modeling　errors.　Considering　the　uncertainties　of　HDVs,　a　decentralized　tube　model　predictive　control　(MPC)　algorithm　based　on　the　feedback　control　and　feedforward　control　is　proposed　for　CAVs　in　the　mixed　vehicle　platoon.　Firstly,　we　construct　a　generic　nominal　system　model　and　an　actual　system　model　for　each　sub-platoon　based　on　the　linearized　kinematics　of　HDVs　and　CAVs.　Secondly,　the　tube　invariant　set　sequence　centered　on　the　nominal　system　trajectories　is　constructed　with　the　feedforward　control,　and　then　the　actual　trajectories　of　all　vehicles　in　each　sub-platoon　are　restricted　in　the　tube　with　the　feedback　control.　Finally,　numerical　simulations　are　given　to　verify　that　the　proposed　tube　MPC　algorithm　can　overcome　the　uncertainties　of　HDVs　to　achieve　formation　control　of　the　mixed　vehicle　platoon.　　©　2022　Technical　Committee　on　Control　Theory,　Chinese　Association　of　Automation.