Abstract: A conveyor system having a plurality of segments and articulable joints connecting adjacent segments is disclosed. Each segment is provided with an individually controllable drive unit for moving the conveyor segment over a surface on which the conveyor system is supported. Each joint between segments is provided with a sensor system to measure the amount of articulation at each joint. The conveyor system is further provided with a control system for aligning the segments of the conveyor system. The control system surveys each joint of the conveyor to determine which, if any, joints are out of alignment. The, extent of misalignment at each joint is measured and the joint having the maximum misalignment at the time is identified. The maximum velocity at which the overall conveyor system may travel is then limited based on the ratio between the maximum measurable misalignment and the maximum surveyed misalignment.