Robust actuator control methods for heavy-duty vehicle motion management

A computer implemented method performed in a control unit for controlling at least one torque generating motion support device (“MSD”) on a heavy-duty vehicle, the method comprising

• receiving a motion request indicative of a desired positive longitudinal tire force to be generated by the torque generating MSD,
• obtaining an estimated applied torque indicative of a current positive torque generated by the at least one torque generating MSD,
• determining a target wheel speed based on the motion request and on the estimated applied torque, and
• configuring the torque generating MSD to maintain the target wheel speed,
• the method further comprising executing a back-off procedure comprising a decrease of the target wheel speed wi in case an increase in the configured wheel speed resulted in a corresponding decrease in the estimated applied torque.