A vehicle comprising a control system for controlling motions of the vehicle , the vehicle having wheels, the control system comprising: suspension units configured to support the wheels respectively driven by motors controlled by throttles; a set of sensors configured to detect the motions of the vehicle ; a road roughness sensor ; an input/output interface, I/O, connected to: the set of sensors and the road roughness sensor , one or more processor , a memory device storing computer-implemented programs including a road roughness prediction program , an actuator control program and a throttle allocator program , an allocation module implemented through execution, by the one or more processor , of the throttle allocator program , and configured, in connection with the sensors , to generate and transmit allocated throttle signals to the throttles to minimize the motion by solving an optimization problem related to the motion by executing an optimization algorithm that computes a throttle/brake allocation that minimizes chassis motion in real-time; and a motor control unit configured to drive each of the motors (1203-1, 1203-2, 1203-3, 1203-4) via the throttles according to the allocated throttle signals, wherein the motions are represented by lift , pitch , and roll values of the vehicle , and the allocated throttle signals drive the motors (1203-1, 1203-2, 1203-3, 1203-4) to move the wheels on the right side closer together and the wheels on the left side farther apart to create a roll motion in response to a detected roll motion in the opposite direction; wherein a road roughness measured by the road roughness sensor is used to compute traction forces, to be allocated to the wheels, and a steering angle of the vehicle , to be set, to reduce the chassis motion due to road roughness while maintaining drivability. suspension units configured to support the wheels respectively driven by motors controlled by throttles; a set of sensors configured to detect the motions of the vehicle ; a road roughness sensor ; an input/output interface, I/O, connected to: the set of sensors and the road roughness sensor , one or more processor , a memory device storing computer-implemented programs including a road roughness prediction program , an actuator control program and a throttle allocator program , an allocation module implemented through execution, by the one or more processor , of the throttle allocator program , and configured, in connection with the sensors , to generate and transmit allocated throttle signals to the throttles to minimize the motion by solving an optimization problem related to the motion by executing an optimization algorithm that computes a throttle/brake allocation that minimizes chassis motion in real-time; and a motor control unit configured to drive each of the motors (1203-1, 1203-2, 1203-3, 1203-4) via the throttles according to the allocated throttle signals, wherein the motions are represented by lift , pitch , and roll values of the vehicle , and the allocated throttle signals drive the motors (1203-1, 1203-2, 1203-3, 1203-4) to move the wheels on the right side closer together and the wheels on the left side farther apart to create a roll motion in response to a detected roll motion in the opposite direction; wherein a road roughness measured by the road roughness sensor is used to compute traction forces, to be allocated to the wheels, and a steering angle of the vehicle , to be set, to reduce the chassis motion due to road roughness while maintaining drivability. <EOS>