本研究將針對聯結半拖車於不同負載的情況下，設計自組織模糊控制器，透過其學習法則來控制半拖車後方之差動煞車，藉以預防鐮刀效應的發生。此外，本研究利用線性聯結車模型與TruckSim來模擬兩種轉向駕駛行為:等速步階轉向與魚鉤轉向，並由模擬指出自組織模糊控制器於車輛參數不確定時，能追蹤到一致性的理想第五輪角度。隨後將此控制器實際應用於縮小型聯結車上，實驗結果顯示自組織模糊控制器能於不同負載下，逐漸追蹤到期望之第五輪響應。

In this research the differential braking design for articulated vehicle jackknife prevention is investigated. To handle the variations in the semi-trailer loading condition, a self-organizing fuzzy control that can update its control law through a set of learning algorithm is employed. Two different types of driving scenarios are investigated, namely the constant speed step steering and a fish hook maneuver. Computer simulations, both using a linearized vehicle model and the TruckSim® vehicle model, indicate that the SOFC performs consistently well in tracking the desired fifth wheel angle under different loading conditions. Experimental results of scaled articulated vehicle also show that SOFC can track the fifth wheel angle to the desired response under different load.

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