Abstarct: Due to the nonlinearity of dynamic equations of braking system, design controllers that have good performance with guaranteed stability is important, due to the ability of adaptive fuzzy controllers to deal with nonlinear uncertain systems, in this thesis, we use the adaptive fuzzy controllers. Direct and indirect adaptive fuzzy controllers are designed and analyzed, stability and convergence properties of the closed-loop system are analytically proved using Lyapunov’s direct method. in this thesis. In addition to the adaptive fuzzy control, a direct adaptive fuzzy control baxsed on backstepping design technique is also developed and analyzed to taking into account the actuator dynamics. Reference input to the anti-lock brake systems is optimal slip value, in optimal slip, maximum friction coefficient between the tire and the road is achieved, therefor vehicle stopped in minimum possible distance. In this study, with assuming the unavailability of optimum slip value, looking for a method to get the reference input to the control loop. This value is given as reference input for regulation to the control system. In this thesis, model-baxsed and model-free methods to obtain the optimum slip value are designed and analyzed, convergence of model-baxsed methods are analyzed, also in proposed model-free method, convergence to the optimum slip value in finite time is guaranteed. Finally, the proposed algorithms are compared and evaluated.