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In this paper the integrated control of front and rear active differentials with active front steering is investigated in order to improve dynamics, stability and to reduce the drawbacks of mechanical self-locking differentials. The proposed integrated centralized control feeds back both the yaw rate and the wheel speed measurements to the control inputs which are the front wheel steering angle and the torque transferred by the electronic differentials between the left and the right wheels of both vehicle's axles. The control of the electronic differentials is not only aimed at keeping the wheel speed differences at desired values but it is also integrated with the active steering control (a PI action from the yaw rate error) to produce a yaw moment (also depending on the yaw rate error) which improves handling and stability.