聯結車輛發生意外事故時往往較一般小型車輛所造成的意外事故來的嚴重，所以聯結車輛的安全系統發展相形之下更為重要，而聯結車的意外事故類型也與單車體車輛不同，例如鐮刀效應、半拖車失控或翻覆等。而在本研究中將設計一差動剎車控制器來預防鐮刀效應之發生。由於一般聯結車都使用在貨物的運送，但每一次所運送的貨物重量與配置都不一樣，如此會造成聯結車半拖車的重量及重心位置等車輛參數也跟著不一樣，亦即聯結車的模型參數存在著未知或不確定。若鐮刀效應預防控制器僅針對固定車輛參數而設計，可能因為受控系統參數的不確定而導致控制器效能不佳，影響鐮刀效應預防的效果。故本研究針對此問題設計一能適應半拖車上不同載重及重心位置之鐮刀效應預防控制器，並透過追蹤理想化的聯結車第五輪角的動態效應，藉由一適應性控制器控制半拖車後方之差動煞車，使半拖車產生一擺力矩以抑制第五輪的轉動，達到鐮刀效應的預防。最後，將本研究所設計之控制器實際應用於縮小型聯結車輛上，以驗證本研究所設計之控制器的效能。

Generally the accidents involving the articulated vehicles cause more severe damage compared to the passenger cars, and consequently the development of the associated active safety systems is of great importance. There are several unique crash types that only occur in articulated vehicles, e.g., the jackknife, trailer swing or rollover, etc… In this research a differential braking controller is designed to prevent the articulated vehicles jack-knifing. Since the articulated vehicles are commonly used for freight transportation, the loading conditions change among different trips. This results in the variations in the vehicle model parameters, and if the controller is designed based on a set of nominal vehicle parameters, the performance of the controller may be degraded. Therefore, a model reference adaptive control is developed in this research to regulate the tracking performance of a desired fifth wheel angle by matching the reference model characteristics. Finally, the designed controller is implemented on a scaled articulated vehicle to verify the effectiveness experimentally.

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