Fuzzy logic theories, in the past decades, have been used as a popular basis for designing motion controllers. In this research, a fuzzy logic controller is designed for a truck and multiple trailer system where the controller generates the drive velocity and turn rate for only the truck. Instead of relying solely on human expert inputs, an automatic fuzzy rule tuning approach is adopted. This problem is tackled by using the particle swarm optimization algorithm which removes the need for human expert knowledge input while searching for a near optimal solution. The truck and trailer system can thus be driven to a desired position with a near-optimal trajectory in a two-dimensional terrain. Simulation results have shown the effectiveness of the derived fuzzy controller.