This paper studies the control of independently rotating wheels (IRWs) in railway vehicles with the use of magnetorheological dampers. The development of a semi-active strategy for steering/guidance control is presented. A conventional bogie vehicle with IRWs is then used in the study to carry out a comprehensive performance evaluation in comparison with a full active control. The study demonstrates that the proposed semi active control system is effective in providing the wheelsets with the necessary steering on curves and self-centring ability on straight track with irregularities.