The main answer is no -- it will always taste burnt. Some people suggest adding other spices to "mask" the smoky flavor in burnt soups, but I'm not so sure how those will work for chili -- the taste combo may be a little weird.
The spices recommended are curry, a combo of cumin and cinnamon, smoked paprika or cayenne. Another suggestion was Liquid Smoke, which might work OK with a chili, or even peanut butter.
If you have any of those "solutions" on hand, why not try them in small bowls of the chili? Maybe you'll find something that works for you.