To　improve　the　vehicle　safety　and　optimize　vehicle　control　algorithms　in　the　braking　maneuver,　this　paper　focused　on　the　antilock　braking　system　(ABS)　control　approach.　An　adaptive　sliding　mode　backstepping　control　approach　was　proposed　for　the　antilock　braking　system.　First,　a　quarter　vehicle　model　was　built　with　the　lumped　LuGre　dynamic　tire　model.　The　parameters　of　LuGre　model　were　identified　via　the　nonlinear　least　squares　method.　In　addition,　according　to　the　relationship　between　longitudinal　dynamics　and　slip　ratio,　the　control　object　and　adaptive　sliding　model　backstepping　controller　were　addressed.　The　controller　could　track　the　desired　slip　ratio　quickly　and　decrease　the　output　chattering.　The　Lyapunov　theory　was　used　to　prove　the　stability　of　this　control　method.　Results　of　simulation　show　that　great　and　robust　performance　is　achieved　for　tracking　the　desired　slip　ratio　in　the　different　road　surfaces　scenarios.　©　2016,　Beijing　University　of　Technology.　All　right　reserved.