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This paper is part of the European OWHEEL project. It proposes a method to improve the comfort of a vehicle by adaptively controlling the Camber and Toe angles of a rear suspension. The purpose is achieved through two actuators for each wheel, one that allows to change the Camber angle and the other the Toe angle. The control action is dynamically determined based on the error between the reference angle and the actual angles. The reference angles are not fixed over time but dynamically vary during the maneuver. The references vary with the aim of maintaining a Camber angle close to zero and a Toe angle that follows the trajectory of the vehicle during the curve. This improves the contact of the tire with the road. This solution allows the control system to be used flexibly for the different types of maneuvers that the vehicle could perform. An experimentally validated sports vehicle has been used to carry out the simulations. The original rear suspension is a Trailing-arm suspension.