TRACTION-DEPENDENT VARIATION OF WHEEL-TO-SURFACE NORMAL FORCE

A control system () for controlling an active suspension system () of a vehicle (), the control system comprising one or more controller (), wherein the control system is configured to: obtain () information indicative of relative traction levels between different wheels (FL, FR, RL, RR) of the vehicle; and in dependence on the information, control () the active suspension system to increase normal force through a wheel (FR) of the vehicle having relatively high traction compared to one or more other wheels (FL, RL, RR) of the vehicle, and decrease normal force through a wheel (FL) of the vehicle having relatively low traction compared to one or more other wheels (FR, RL, RR) of the vehicle.