针对离轴联接形式的拖车倒车系统,阐述了其混合逻辑(mixed logical dynamics,MLD)的建模理论和基于滚动时域控制(receding horizon control,RHC)的方法.首先,采用Lyapunov理论分析了拖车倒车系统的运动学特性.接着,采用MLD建模理论来描述拖车倒车系统的运动学模型.针对此MLD运动学模型,提出了一种扩展的二次型代价函数.为了减小拖车的跟踪误差以及平滑牵引车转向角的操控性能,提出将其等效为线性二次型跟踪问题.针对此问题,利用多参数混合整数二次规划(multiparametric mixed-integerquadratic programming,mp-MIQP)技术,设计了一种考虑有限时域前向道路信息的显式RHC控制器.最后,通过仿真对控制器进行验证.结果表明尽管跟踪非平滑的参考路径,控制器均表现出期望的控制效果. In this paper, a modeling theory of mixed logical dynamics (MLD) and a method of receding horizon control (RHC) are introduced for the system of off-axis trailer reversing system.Firstly, using the Lyapunov theory, Kinematics characteristics of the reverse system.And then, using the MLD modeling theory to describe the kinematics model of the trailer reversing system.For this MLD kinematics model, an extended quadratic cost function is proposed.In order to reduce the tracking error of the trailer And the control performance of the steering angle of a smooth tractor, a linear quadratic tracking problem is proposed, which is equivalent to a linear quadratic tracking problem.In order to solve the problem, a multiparametric mixed-integer quadratic programming (mp-MIQP) An explicit RHC controller considering the finite time-domain forward path information is given.Finally, the controller is verified by simulation.The results show that the controller shows the desired control effect despite the non-smooth tracking of the reference path.