A system for automated control of a ground-engaging traction device includes sensors to indicate a speed of the ground-engaging traction device, an acceleration of the machine, and a pitch rate of the machine. A controller determines a drive acceleration based upon the speed, and a ground acceleration based upon the acceleration and the pitch rate. The controller determines 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. A method is also provided.