In this paper, a 6-wheel steering vehicle (6WS) was studied as a template by using a 2 degree of freedom model (experimental). To control this vehicle, a two-level controller was employed. High level consists of an open and a close loop controllers. The open loop is a 6WS fuzzy controller that adjusts the angle of rear tires according to the angle of front tires. Also the close loop is the electronic stability program (ESP) fuzzy controller which acts on the brake system to generate a corrective yaw moment. The resultant yaw moment guides the vehicle back to the desired track...