In this paper, we apply the hierarchical model predictive tracking control for real robot and verify the travelling performance. We deal with the independent four-wheel driving/steering vehicle (IFWDS). This vehicle is equipped with the four coaxial steering mechanisms (CSM). It is composed of two steering joints which have different movable range and rotational speed. In our previous study, we achieved the improvement of tracking performance by optimal allocation of steering angle for CSM in simulation. In this study, we verify that we can obtain the same result in experiment.