A system for controlling motion of a hydraulic actuator during a portion of its range of motion is described, including a sensor on the hydraulic actuator for providing a signal indicating that the actuator is near a portion of its range of motion, and a pneumatic control valve that is configured to selectively modify a pressurized air control signal to in turn restrict flow of pressurized hydraulic fluid to the hydraulic actuator. The hydraulic actuator control system further includes an electronic controller for controlling the pneumatic control valve in response to a signal from the sensor. The hydraulic actuator control system thereby slows the motion of the hydraulic actuator near the portion of its range of motion.