To be perfectly honest, I found myself basically ignoring the AI in all 3 Mass Effect games, lol. I upgraded their equipment whenever I could, but otherwise I only directed them when they were in my way or I wanted to keep them out of my way. Otherwise, I just fought like I was on my own, only stopping to heal them every now and then. Probably not the best way to do it, but it's a habit I formed in the first game that seems to have stuck all the way through the series.