An agricultural implement controller configured to receive a first signal indicative of at least one image of a field and to determine a crop residue mass map of the field based on the at least one image. In addition, the agricultural implement controller is configured to receive a second signal indicative of a position of an agricultural tillage implement within the field and to determine a target penetration depth, a target downforce, a target speed, or a combination thereof, of at least one ground engaging tool based on the crop residue mass map of the field and the position of the agricultural tillage implement. Furthermore, the agricultural implement controller is configured to output a third signal indicative of instructions to control at least one actuator coupled to the at least one ground engaging tool based on the target penetration depth, the target downforce, the target speed, the combination thereof.
