ABS/braking issues on 1997 Acura RL

The ABS light comes on occasionally, also, during normal braking nearing a complete stop, the brake pedal will flutter with a very quick 1/2 of a second loss of braking along with a compressor activating. The braking then returns to normal before the vehicle totally stops.

Asked by for the 1997 Acura RL
scan abs module for codes and post so we can adv