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Aiming at the special structure and steering characteristic of wheeled electric-driven articulated underground mining truck, a differential control strategy which took the equal slip rate as control target was given. The kinematic and dynamic model of electric-driven mining ADT was established and the kinematic relationship and stress condition of the driving wheels were analyzed during steering. Acceleration sensors in the sample ADT were used to test the actual speed of the vehicle. Results showed that the filtered signal had small delay and fast response and could be directly used to estimate the speed. Equal slip rate control strategy was superior to equal torque control strategy because it could make full use of the ground adhesion coefficient and achieved the reasonable distribution of drive power. Two sides wheel slip ratio could be stable on -0.08 and the sliping phenomenon was avoided in experimental turning. This control strategy has practical effect for reducing tire wear and improving driving power utilization.