Abstarct: In this thesis, the controller is presented in the fuzzy Adaptive sliding mode control for the anti-lock braking system. First, the Lagure friction model is used in the 1.4 vehicle model, and then the road profile estimator is used to estimate the road profile parameter. From the results of estimating the road characteristics, the amount of optimal slip is obtained. The purpose of this controller is to achieve the reference slip value which itself has been obtained by the road profile estimator. Using Lyapunov stability analysis, it is shown that the values obtained from the road profile estimator converge to the actual values. It is also shown that the fuzzy Adaptive controller of the above sliding mode control leads to optimal slip's asymptotic tracking. Finally, the simulation results show the proper performance of the anti-lock brake system with the proposed controller in different road conditions and achieve the optimal slip value.