If each chiller has a digital input to turn the whole thing off and on, then it sounds like all you really need is a 4 stage controller.
At kele.com they have a controller that takes an analog input, say 0-10VDC from a JC A350 temp sensor. There is a potentiometer for each stage that allows you to chose the point in which each stage will come on. If divided evenly, you would set each pot to 2.5, 5.0, 7.5 and 10 VDC.
Or you could just use some kind of TStat with 1 analog in and 4 relay outs.
How sophistciated a controller you need depends on how fancy you want to be.
If you want to actaully control the individual stages of unloading then you need to somehow "cut-in" to the control circuit.
You could also mess around with setpoints. If each individual chiller will only run based on it own temperature control rountine, then to use the example I gave above, you would have to peg each individual tstat to its lowest level, so that each chiller would fire when the master controller asked for it. Then to get the "trim" chiller to unload, it's tstat would have to be set slightly higher than the lowest activiation point on the master.
Example, chillers 1-3 are set for 0C. Chiller 4 is set for 7C. For simplicity, I am igonring hysteresis for now. The master controller is set for 6C, with a band of say 2C and proportional control from 6C to 8C. While each chiller is idle, it thinks it needs to run based on the reading of its own temp sensors, but is locked out by the open remote stop/start contact. As the master controller sees cooling, it closes the start contact to each chiller and allows them to run. When it demands cooling for the 4th chiller, it will call for it to be on until the setpoint reaches 6C, but the chiller will unload to stay at 7C.
Obviously you will have to play around with it a bit. To rotate run time, you simply change the pots on the master controller, and then adjust the temperature setpoints of each chiller.
I hope this made sense.
I actually did something like this before and it work pretty well, but I did not use the kele controller I referenced. I programmed my own pco2.
Good Luck,
Clyde