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<p>The outward-folding landing leg is a pivotal configuration for reusable vertical-takeoff–vertical-landing (VTVL) rockets, balancing aerodynamic stealth during ascent with structural stability during touchdown. However, under non-ideal tilted landing attitudes, this configuration suffers from asynchronous ground contact, leading to severe local overloads and potential structural failure. To address this, a hierarchical adaptive control framework is proposed. We establish a high-fidelity coupled rocket–leg dynamic model incorporating electromechanical actuator constraints. A model-predictive control (MPC) algorithm is developed to predict touchdown timing based on real-time attitude data, proactively adjusting individual leg lengths to ensure synchronized contact. Simulation results verify that under 3° and 5° tilt conditions, the proposed method reduces touchdown time dispersion from over 30&#xa0;ms to less than 5&#xa0;ms. Consequently, peak force disparity is mitigated by 92–96%, and the maximum impact load is reduced by up to 30.7%. These findings demonstrate that transforming landing legs from passive dampers to active adaptive systems significantly expands the safe recovery envelope for reusable rockets.</p>

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Adaptive Control for Outward-Folding Landing Legs of Reusable Rockets: Achieving Synchronized Touchdown Under Tilted Conditions

  • 期刊论文

  • 发表日期：

    2026年5月5日

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  • Mingyang Huang,
  • Mingkang Zhang

摘要

The outward-folding landing leg is a pivotal configuration for reusable vertical-takeoff–vertical-landing (VTVL) rockets, balancing aerodynamic stealth during ascent with structural stability during touchdown. However, under non-ideal tilted landing attitudes, this configuration suffers from asynchronous ground contact, leading to severe local overloads and potential structural failure. To address this, a hierarchical adaptive control framework is proposed. We establish a high-fidelity coupled rocket–leg dynamic model incorporating electromechanical actuator constraints. A model-predictive control (MPC) algorithm is developed to predict touchdown timing based on real-time attitude data, proactively adjusting individual leg lengths to ensure synchronized contact. Simulation results verify that under 3° and 5° tilt conditions, the proposed method reduces touchdown time dispersion from over 30 ms to less than 5 ms. Consequently, peak force disparity is mitigated by 92–96%, and the maximum impact load is reduced by up to 30.7%. These findings demonstrate that transforming landing legs from passive dampers to active adaptive systems significantly expands the safe recovery envelope for reusable rockets.