Can anyone help!

I have a 2000 w reg ulysee, it's been a great car but a few nonths ago the ABS light came on and remains on. I've had it in the garage but they can't find the problem.
Today the engine light came on on the dash, i drove it home (4 miles) and when i stopped it started spluttering, as if one of the cylinders were'nt fireing.
Does anyone know what it is?