A simple and effective fuzzy logic controller is designed for an Anti-Lock Braking System (ABS) to improve the braking performance and directional stability of an automobile during braking and steering-braking manoeuvres on uniform and nonuniform (mu-Split) friction Surfaces. The system consists of two controllers working in tandem. The first controller works oil the longitudinal slip, and the second controller is responsible for the side-slip motion control of the vehicle. The fuzzy logic controller is implemented on a four-wheel nonlinear vehicle model with nonlinear lyre behaviour. Simulations are carried out and comparisons are made using the vehicle model with and without the fuzzy logic controlled ABS to assess controller performance.