Method of controlling a steering operation and a steering system

A steering system for a vehicle, the steering system comprising:

• a first steering actuator connectable to a first steerable wheel of the vehicle, the first steering actuator comprising:
• a first steering controller configured to receive a signal indicative of a requested steering angle and to control the first steering actuator to generate a steering operation for the first steerable wheel based on the requested steering angle,
• a first steering angle sensor configured to determine a first current steering angle indicative of a current steering angle of the first steerable wheel, wherein the first steering controller is configured to determine a difference between the requested steering angle and the first current steering angle, and to control the first steering actuator to apply a first steering torque on the first steerable based on the difference between the requested steering angle and the first current steering angle, and
• a second steering actuator connectable to a second steerable wheel of the vehicle, the second steerable wheel being mechanically connected to the first steerable wheel, the second steering actuator comprising:
• a second steering controller configured to receive the signal indicative of the requested steering angle and to control the second steering actuator to generate a steering operation for the second steerable wheel based on the requested steering angle,
• a second steering angle sensor configured to determine a second current steering angle indicative of a current steering angle of the second steerable wheel, wherein the second steering controller is configured to determine a difference between the requested steering angle and the second current steering angle,
• wherein the first steering controller is further configured to transmit the first current steering angle to the second steering controller, wherein the second steering controller is configured to determine an offset steering angle, the offset steering angle being a difference between the first current steering angle and the second current steering angle, wherein the second steering controller is further configured to control the second steering actuator to apply a second steering torque on the second steerable wheel based on the offset steering angle and the difference between the requested steering angle and the second current steering angle.