Patent ID: 7712559

Claim:
A method of controlling the speed of a wheel of a machine, comprising: receiving a speed command based at least partially on an operator input; monitoring an articulation angle between a front frame section and a rear frame section of the machine, the front frame section including a right front wheel, a left front wheel and a front wheel power system having a right hydrostatic transmission for powering the right front wheel and a left hydrostatic transmission for powering the left front wheel, and the rear frame section having a right rear wheel, a left rear wheel and a rear wheel power system separate from the front wheel power system, for powering the right rear wheel and the left rear wheel; monitoring a wheel steering angle of the right front wheel or the left front wheel; determining a wheel speed command based at least partially on the wheel steering angle; and outputting the wheel speed command to control the speed of the right front wheel or the left front wheel.