The invention relates to a steering control system for vehicles with at least four steering wheels (1, 1, 1 and 1). The system comprises an actuator for each steering wheel (3, 3 and 3) and a sensor for the actual rotating angle of every steering wheel (alpha r< AvG>, alpha r, alpha r and alpha r3). The system comprises a control element tobe used by drivers and delivering a requested angle of turn (theta). The steering system comprises a steering control unit (4) which uses at least one requested angle of turn (theta) through the input variable to confirm the steering control angle (alpha p< AvG>, alpha p, alpha p< AvG> and alpha p) for operating the actuator. The system comprises a locking device (5) for detecting one of the steering actuators. When the locking is detected, the device can transmit a warning identifying a locking actuator. Under the circumference that the actuator is locked, the steering control unitis provided with at least one normal mode and at least one degraded mode which calculates the steering control angle of the unlocked vehicle wheel (alpha p) by using the mode strategy of the firstdegraded mode. Therefore, the instantaneous centre of rotation (CIR) of the vehicle is located substantially on the straight line perpendicular to the plane of the locked wheel and passing through the center of the contrast area with the ground of the locked wheel, at a position based on the request angle of turn (theta).