Summary: This study proposes a steering structure with two angle controllers to provide vehicle stability and with a front-forward controller to supply the handling predictability for front-wheel steering (FWS) ground vehicles. As FWS vehicles generally have to travel along the trajectory under the control of a driver, the objective of this research is to ensure the desired course through the interaction of the steering structure. The analysis of the stability of a lateral vehicle dynamics model with the two proposed angle controllers and the feed-forward controller can be deduced successfully by using the Routh-Hurwitz methodology. Each component of the proposed structure is described in more detail as follows: a refined pre-filter which can be obtained by using the loop-shaping methodology; the front-forward controller which substitutes the driver behavior; two proposed angle controllers which can be developed by using a well-known dynamics model and an angle conception. As a consequence, a yaw scheduled gain which can effectively regulate to improve the system performance. Finally, the simulation results demonstrate that such a vehicle with the two angle controllers is able to follow a desired path both accurately and stably under the variations of mass, forward velocity and road-tire contact.