Vehicle　stability　control　systems　play　an　essential　role　in　helping　the　driver　maintain　vehicle　control.　This　paper　addresses　a　control　scheme　for　antilock　braking　system　(ABS).　In　this　control　scheme,　first,　a　quarter　model　of　the　vehicle＇s　longitudinal　dynamic　system　is　developed,　which　includes　the　LuGre　tyre/road　dynamic　friction　model.　Then,　a　non-linear　controller　is　developed　using　the　multiple　models　adaptive　controls　(MMAC)　methodology.　The　control　system　models　are　divided　into　high　adhesion,　middle　adhesion,　low　adhesion　fixed　models　and　an　adaptive　model.　Backstepping　and　adaptive　backstepping　controller　are　designed　for　fixed　and　adaptive　models,　respectively.　The　index　function　is　used　to　switch　the　control　rule　by　searching　the　minimum　index　value.　Our　proposed　ABS　controller＇s　stability　is　proved　by　the　Lyapunov　stability　theorem.　Finally,　the　results　of　the　simulation　in　the　different　surface　conditions　show　that　MMAC　is　better　than　other　controllers　and　achieves　great　and　robust　braking　performance.