On　account　of　the　backing-up　tractor-trailer　system　with　an　off-axle　connection,　a　mixed　logical　dynamics　(MLD)　approach　and　a　receding　horizon　control　(RHC)　method　have　been　addressed　respectively　for　the　purpose　of　modeling　and　control　of　such　system.　At　first,　Lyapunov　theory　is　used　to　analyze　the　motion　characteristics　of　the　tractor-trailer　system.　Then,　MLD　approach　is　proposed　to　describe　the　kinematic　of　the　tractor-trailer　system.　For　the　resulting　MLD　model,　an　extended　cost　function　with　quadratic　form　is　addressed.　To　minimize　the　tracking　error　of　the　trailer,　and　smooth　the　behavior　of　the　steering　angle,　an　equivalent　linear　quadratic　tracking　problem　is　presented.　In　view　of　this　problem,　an　explicit　RHC　controller　is　designed　considering　a　look-ahead　path　information　with　finite　horizon,　by　employing　the　multi-parametric　mixed-integer　quadratic　programming　(mp-MIQP)　technique.　Finally,　the　controller　is　evaluated　through　simulation,　and　achieves　a　desirable　performance,　even　under　the　tracking　of　a　non-smooth　reference　path.　©　2012　Chinese　Assoc　of　Automati.