中文摘要：

为了克服防抱死系统的强非线性和不确定特性，利用组合灰色系统的预测能力和滑模控制的鲁棒性来调节依赖于汽车前向速度的最佳滑移率，推导出控制算法。仿真结果表明，文中控制器具有克服所描述困难的能力和快速收敛性。

英文摘要：

To overcome the nonlinear in the Anti-lock Braking System （ABS）, the optimal wheel slipping rate depending on the car speed is adjusted by combine the optimal estimation from the gray-system theory with the robustness from the sliding-mode control. The control algorithm is deduced, and the simulation results show that it is useful and fast convergent.