A vehicle comprising: a vehicle body; a plurality of wheel assemblies each having a rotation axis; at least one suspension linkage, each suspension linkage coupling a respective wheel assembly to the vehicle body to permit motion of the rotation axis of each respective wheel assembly relative to the vehicle body; a damper coupled to a respective suspension linkage to constrain the motion of the associated wheel assembly by applying a damper reaction force to the suspension linkage, the damper being configured to be responsive to a damper force control output to vary the damper reaction force being applied to the suspension linkage; at least one vehicle sensor configured to provide vehicle condition data; and a damper control unit configured to generate the damper force control output that causes the damper to generate respective damper reaction forces to act against the suspension linkage to control the motion of the wheel assembly towards a set position for the wheel assembly relative to the vehicle body, adjust the set position based on a change in the vehicle condition data, and calculate the set position based on variations in the vehicle condition data over time.