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This paper presents nonlinear bifurcation stability analysis of articulated vehicles with active trailer differential braking (ATDB) systems. ATDB systems have been proposed to improve stability of articulated vehicle systems to prevent unstable motion modes, e.g., jack-knifing, trailer sway and rollover. Generally, behaviors of a nonlinear dynamic system may change with varying parameters; a stable equilibrium can become unstable and a periodic oscillation may occur or a new equilibrium may appear making the previous equilibrium unstable once the parameters vary. The value of a parameter, at which these changes occur, is known as “bifurcation value” and the parameter is known as the “bifurcation parameter”. Conventionally, nonlinear bifurcation analysis approach is applied to examine the nonlinear dynamic characteristics of single-unit vehicles, e.g., cars, trucks, etc.