This paper introduces a robust controller for connected vehicles which are communicating through dedicated short-range communication (DSRC) protocol to avoid collision and improve safety. By a comprehensive analysis on both longitudinal and lateral dynamics of the vehicles, the controller covers a wide range of collision avoidance scenarios, such as: Intersection Movement Assistant (IMA), Automatic Emergency Brake (AEB) and Lane Change Warning (LCW). By implementing an advanced Sliding Mode Controller (SMC), the effect of uncertainties will be mitigated for a variety of path plans. It turns out that the proposed control scheme can robustly improve the safety. Finally, we optimize the performance of vehicles in tracking the paths by an MPC controller. KEYWORDS automatic emergency brake (AEB), connected vehicles (CV), intersection movement assist (IMA), lane change assist (LCA), sliding mode controller (SMC), V2V communication