A vehicle having: a pair of steerable front wheels (101, 102, 201, 202), at least one pair of left and right rear wheels (111, 112, 113, 144, 211, 212, 213, 214) driven by a pair of hydraulic motors; a steering linkage (14, 105) connecting the front wheels (101, 102, 201, 202) to a steering wheel; the front wheels (101, 102, 201, 202), steering wheel and steering linkage (104, 105) defining a steering geometry position, sensors, comprising at least a steering geometry position sensor (127, 227) and wheel speed sensors (123, 124, 221, 222) that sense the wheel speed of the driven left and right rear wheels (111, 112, 113, 114, 211, 212, 213, 214); and an electronic control unit (119, 218) on the vehicle configured for receiving the steering geometry position and actual speeds from the plurality of sensors (127, 227,123, 124, 221, 222), determining if the steering geometry position indicates a vehicle turn, identifying which of the left and right rear wheels (111, 112, 113, 114, 211, 212, 213, 214) is the inner wheel during the vehicle turn, estimating the desired speed of the inner wheel during the vehicle turn, calculating the error between the actual inner wheel speed and the desired inner wheel speed during the vehicle turn, and providing a command to the hydraulic motor of the inner wheel to reduce the actual inner wheel speed to approach the desired inner wheel speed during the vehicle turn; said vehicle being characterized in that the electronic control unit (119, 218) is connected to a sensor for sensing an accelerator pedal position and configured to map the accelerator pedal position to provide a corresponding torque command, to calculate a motor torque error, which is the difference between the torque command and the actual outer motor torque, and to provide an outer motor torque command (520, 521) to the motor of the outer wheel to reduce the error between the torque command and the actual outer motor torque. a pair of steerable front wheels (101, 102, 201, 202), at least one pair of left and right rear wheels (111, 112, 113, 144, 211, 212, 213, 214) driven by a pair of hydraulic motors; a steering linkage (14, 105) connecting the front wheels (101, 102, 201, 202) to a steering wheel; the front wheels (101, 102, 201, 202), steering wheel and steering linkage (104, 105) defining a steering geometry position, sensors, comprising at least a steering geometry position sensor (127, 227) and wheel speed sensors (123, 124, 221, 222) that sense the wheel speed of the driven left and right rear wheels (111, 112, 113, 114, 211, 212, 213, 214); and an electronic control unit (119, 218) on the vehicle configured for receiving the steering geometry position and actual speeds from the plurality of sensors (127, 227,123, 124, 221, 222), determining if the steering geometry position indicates a vehicle turn, identifying which of the left and right rear wheels (111, 112, 113, 114, 211, 212, 213, 214) is the inner wheel during the vehicle turn, estimating the desired speed of the inner wheel during the vehicle turn, calculating the error between the actual inner wheel speed and the desired inner wheel speed during the vehicle turn, and providing a command to the hydraulic motor of the inner wheel to reduce the actual inner wheel speed to approach the desired inner wheel speed during the vehicle turn; said vehicle being characterized in that the electronic control unit (119, 218) is connected to a sensor for sensing an accelerator pedal position and configured to map the accelerator pedal position to provide a corresponding torque command, to calculate a motor torque error, which is the difference between the torque command and the actual outer motor torque, and to provide an outer motor torque command (520, 521) to the motor of the outer wheel to reduce the error between the torque command and the actual outer motor torque.