Patent ID: 8600621

Claim:
A system for automated control of a ground-engaging traction device of a machine having a drive system, the traction device engaging a ground surface, the system comprising: a drive sensor configured to provide a drive signal indicative of a speed of the ground-engaging traction device; a first sensor configured to provide an acceleration signal indicative of a measured acceleration of the machine; a second sensor configured to provide a pitch rate signal indicative of a measured pitch rate of the machine; and a controller configured to: determine a drive acceleration based upon the drive signal; determine a ground acceleration based upon the acceleration signal and the pitch rate signal, the ground acceleration being parallel to the ground surface; compare the drive acceleration to the ground acceleration; determine a command signal at least in part based upon an operator input command signal and a difference between the drive acceleration and the ground acceleration; and transmit the command signal to the drive system to control the ground-engaging traction device.