A drilling machine includes a frame, two tracks, and a plurality of yokes interconnecting the frame and the tracks. Each yoke is pivotable with respect to the frame by the extension and retraction of a hydraulic cylinder. Each of a plurality of sensors senses a parameter indicative of force and generates a signal representing the force. A controller receives the force signals, and generates control signals to extend or retract the hydraulic cylinders when an associated force deviation for a hydraulic cylinder exceeds a predetermined magnitude.