An agricultural vehicle includes a chassis and a header system carried by the chassis. The header system includes a frame； a cutter carried by the frame； a cutter sensor associated with the cutter which outputs a cutter height signal； a gauge wheel carried by the frame behind the cutter； a wheel sensor associated with the gauge wheel which outputs a wheel position signal； an actuator system including actuators which can adjust a height and/or a tilt angle of the frame； and a controller electrically coupled to the cutter height sensor, the wheel sensor and the actuator system. The controller is configured to: receive the cutter height signal； receive the wheel position signal； compare the cutter height signal and the wheel position signal to determine a terrain irregularity is present； and activate one or more actuators to adjust the frame in response to determining the terrain irregularity is present.
