This paper presents a model-based control system design for a novel tethered unmanned aerial vehicle (UAV)-unmanned ground vehicle (UGV) system developed in collaboration with Aurrigo, aligning with their autonomous baggage tug, the Auto-DollyTug®. The UAV provides overhead surveillance while tracking the ground vehicle, with power and data transmission managed via a custom-designed tether system. A comprehensive dynamic model of the tethered quadcopter is developed, incorporating aerodynamic drag, environmental disturbances, and tether forces. Simulation studies of a dual-loop control architecture design are presented. The simulated scenarios assess system performance under varying UAV speeds, flight radius, and wind conditions, and make use of integral absolute error (IAE) metrics. Results highlight that UAV velocities (≈2.9 m/s) yield satisfactory tracking, while higher wind speeds and larger radius reduce performance. Preliminary studies involving a fuzzy logic-based tether control strategy are also introduced, with surface plots generated to guide adaptive tether length adjustment.