Moving machine control program and moving machine control device

A moving machine control device of a moving machine,

• the moving machine control device controlling at least one actuator that applies external force in a rotational direction to a wheel,
• the moving machine control device comprising:
• a request acquiring section that acquires requested external force regarding the actuator, the requested external force corresponding to rotational force of the wheel, the rotational force being requested during traveling of the moving machine;
• a reference kinetic model read-out section that reads out a reference kinetic model that defines moving machine behavior exhibited when the actuator generates external force corresponding to the requested external force;
• a requested behavior calculating section that calculates, as requested moving machine behavior, the moving machine behavior exhibited when the actuator generates the external force corresponding to the requested external force, in accordance with the reference kinetic model;
• an actual behavior acquiring section that acquires actual moving machine behavior measured during the traveling of the moving machine;
• a correcting section that corrects the requested external force such that the actual moving machine behavior acquired by the actual behavior acquiring section approaches the requested moving machine behavior calculated by the requested behavior calculating section;
• and
• a control section that controls the actuator based on the corrected requested external force.