In this paper, we derive a strategy for global chassis attitude control using semi-active suspensions. For this purpose, a two stage control strategy is designed through an optimal Skyhook control, based on industrial specifications and an anticipation handling strategy. This design advantage is its simplicity which makes it easily implementable on a real-time embedded application. Simulations on a non-linear full vehicle model with semi-active Magneto-rheological-damper (system actuator) are performed to show the method efficiency.