Extensive advancements in the field of mobility and safety in transportation in last few decades have acted as a catalyst for the expansion of automobile industry. The research for the evolution of new technologies, vehicle safety regulations and specifications and the market requirements has given this progress a greater push. The passenger cars these days are equipped with ample collection of active safety systems such as Anti-lock Braking Systems (ABS), Electronic Stability Program (ESP), Active Front Steering (AFS) and many more. The amalgamation of these active safety systems in the vehicle chassis allows the vehicle to accomplish the desired stability. Both academia and industry understood the requirement of more research in the field of vehicle industry. This leads to the comprehensive enhancement in the field of research and development with respect to integrated chassis control (ICC). The new research delivered some remarkable advantages to this industry, such as cost reduction of the complete system, multi-objective performance growth, hardware entanglement, fault-tolerant capability and system plausibility. Despite the huge diversity in research of integrated chassis, there are certain adaptive design methods which can be used to enhance the ICC performance. This dissertation intends to provide a methodology to fully exploit the nonlinear dynamics of the vehicle concerning the forces in between tire and road surface and to discuss the integration of AFS and ESP. It establishes a novel adaptive control approach in order to attain asymptotic tracking for switched affine vehicle models with parameter uncertainties and disturbances acting on the model. This, therefore, will help to attain the desired performance. Further, comparisonwith strategies that merely exploits the linear region of the vehicle dynamics are discussed, and performance improvements of the proposed methodology are assessed. Finally, analytically the endurance of the prospective control strategy is proven and simulations are conducted to validate the theoretical analysis.