Abstract: Compared with the traditional hydraulic brake system or the pneumatic braking system， the electromechanical brake is being paid increasing attention due to its simple structure， short response time and high braking efficiency. Therefore， based on the as-designed electromechanical brake device， a variable structure controller with sliding mode for anti-lock braking system (ABS) was proposed. A vehicle model which was built in the Carsim and control system was designed in Simulink. Then， a co-simulation was conducted between the Carsim and the Simulink. By comparing with the braking performance of the traditional hydraulic brake， using the logic threshold method with the electromechanical brake， it was verified that variable structure control with sliding mode method for anti-lock braking system is effective in vehicle equipping with the electromechanical brake system and advanced in braking performance.

Key words: electromechanical brake, ABS, sliding mode control, slip ratio, virtual prototyping