Intelligent boom control with end effector leveling for a feller buncher

An end effector leveling system for moving an end effector of a work machine, the work machine including a boom assembly with a hoist boom pivotally coupled to a machine frame and movable relative to the machine frame by a hoist actuator, a stick boom pivotally coupled to the hoist boom and movable relative to the hoist boom by a stick actuator, and the end effector pivotally coupled to the stick boom at a stick pin and movable relative to the stick boom by a tilt actuator, the control system comprising:

• a plurality of sensors configured to sense one or more indicators of a current movement speed of the hoist boom, a current movement speed of the stick boom, and a current movement speed of the end effector;
• an input interface configured to receive an end effector target angle input command from an operator for movement of the end effector at a constant target angle;
• and
• a controller configured to:
• receive, via the input interface, command signals corresponding to at least one of the hoist actuator velocity and the stick actuator velocity for a desired movement of the end effector, wherein the desired movement comprises the end effector moving at the constant target angle relative to one of a machine reference frame and a ground reference frame;
• determine based upon the end effector target angle input command, a target tilt actuator velocity for actuating the tilt actuator;
• determine based upon the sensed indicators, an actual tilt actuator velocity for actuating the tilt actuator;
• and
• command the tilt actuator to move such that the end effector moves with an aggregate velocity derived from a weighting function of the target tilt actuator velocity and the actual tilt actuator velocity, the aggregate velocity corresponding to the desired movement.