System and method of preventing articulated machine roll-over

An articulated machine comprising:

• a first frame supported by a front wheel assembly;
• a second frame supported by a rear wheel assembly;
• a first sensor provided on the first frame and configured to provide a position of the first frame;
• a second sensor provided on the second frame and configured to provide position information of the second frame;
• a drive train configured to couple the front and the rear wheel assembly, the drivetrain having an inter axle differential configured to facilitate the front and the rear wheel assembly to move at different speeds;
• and
• a controller operatively coupled to the sensors and the inter axle differential, the controller being configured to:
• compare the position of the first frame received from the first sensor with the position of the second frame received from the second sensor to determine a relative position of the second frame with respect to the first frame;
• compare the determined relative position of the second frame with a predefined position limit;
• and
• selectively lock the inter axle differential when the determined relative position of the second frame is greater than the predefined position limit.