In　order　to　implement　the　accurate　path　tracking　control　for　the　backing-up　tractor-trailer　system　with　off-axle　hitching,　a　new　control　framework　relying　on　mixed　logical　dynamics　(MLD)　hybrid　modeling　and　model　predictive　control　(MPC)　method　is　presented　in　this　paper.　At　first,　a　MLD　hybrid　model　is　proposed　to　describe　the　open-loop　kinematic　of　the　tractor-trailer　system.　For　the　resulting　MLD　model,　an　extended　cost　function　defined　as　a　quadratic　form　is　addressed,　in　which　the　steering　angle　of　the　tractor,　as　well　as　two　errors　combining　the　position　and　the　orientation　of　the　trailer　are　considered.　To　minimize　the　tracking　error　of　the　trailer,　and　smooth　the　steering　angle　behavior　of　the　tractor,　an　equivalent　linear　quadratic　tracking　problem　is　presented.　Then,　a　receding　horizon　finite-time　optimal　controller　is　designed,　by　employing　multi-parametric　mixed-integer　quadratic　programming　(mp-MIQP)　technique.　Finally,　the　controller　performance　is　evaluated　through　simulation,　and　achieves　closed-loop　system　asymptotical　stability,　accurate　tracking　performance　and　constraint　fulfillment　properties,　even　under　the　case　of　non-smooth　tracking　reference　path.　©　2012　IEEE.