Abstract
This paper presents a generic vehicle motion control design methodology for integrating braking, steering, suspension and drive chassis subsystems. The controller operates at two levels: integrated closed loop control and subsystem co-ordination . The integrated closed loop controller (ICLC) calculates generic actuation forces such as individual wheel torques, suspension forces and steer rates that achieve the desired vehicle dynamic motion. The second level co-ordinates the individual chassis subsystems to produce the generic actuation forces. Simulation results are presented for the integrated closed loop controller that validate the sliding mode control method as a suitable design method.