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The high performance locomotion control is an essential issue of the unmanned AWID-AWIS (all-wheel-independent-drive & steering) vehicle. Firstly, a kind of hierarchical locomotion control architecture suited to the unmanned vehicle was proposed. Its top layer, middle layer and bottom layer are the locomotion controller, the control allocator and the independent wheel drive-brake-steering servo controller, respectively. Secondly, a novel vehicle dynamic/kinematics integrated locomotion control means was developed using the extended state observer (ESO) and active disturbance rejection control (ADRC) method, and the controller was subsequently designed. Finally, the vehicle locomotion control simulations under different conditions were performed. The results showed the proposed control method is virtual, and that the control objective for AWID-AWIS vehicle locomotion couldn’t be designed simply.