中文摘要：

分别设计以提高平顺性和操纵稳定性为目标的主动悬架控制器。并基于多主体的控制器组织方法建立底盘集成控制扩展框架,使主动悬架控制器与包含主动转向、主动驱动/制动力矩分配的集成控制系统协调工作。在Matlab/Simulink仿真环境中研究该控制框架在极限操纵工况下的性能。仿真结果表明：局部控制器主体可方便地增加到集成控制系统中,体现了基于多主体的底盘集成控制框架的可扩展性;该扩展框架能同时改善车辆的操纵稳定性和行驶平顺性。

英文摘要：

Two active suspension controllers are designed respectively for improving ride comfort and han- dling stability, and an extended framework for integrated chassis control is built based on multi-agent architecture to make active suspension controllers work concertedly with integrated chassis control system covering active steering and active drive/brake torque distribution. The performance of the framework under critical manipulation condition is then simulated with Matlab/Simulink. The results show that the local controller as an agent can handily be incorporated into integrated control system, ,embodying the extendibility of multi-agent-based integrated chassis control framework, which can enhance both handling stability and ride comfort of vehicle simultaneously.