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By using kinematic state information obtained through vehicle‐to‐vehicle communications, connected autonomous vehicles (CAVs) can drive cooperatively to alleviate shockwave propagation associated with traffic disturbances. However, during the transition to full autonomy, CAVs and human‐driven vehicles (HDVs) will coexist on the road, creating mixed‐flow traffic. The inherent heterogeneity and randomness in human driving behavior can generate additional disturbances in the traffic flow. Further, HDVs without communication functionality (unconnected HDVs) can cause the control performance of CAVs to degrade by negatively impacting platoon formation. To proactively mitigate the negative impacts of HDVs in mixed‐flow traffic, this study proposes a cooperative control strategy with three components for platoons consisting of CAVs and unconnected HDVs: (i) a number estimator for estimating the number …