Angular Stabilization of a Multirotor Aircraft in Venus’ Atmosphere

The study addresses the problem of attitude stabilization of a multirotor aircraft (MRAC) designed for exploring the atmosphere of Venus. The relevance of this topic is driven by the need to obtain detailed data on the lower layers of Venus’ atmosphere, which is crucial for understanding climate processes in the Solar System as a whole. The objective of the study is to develop a control system based on a proportional-integral-derivative controller to ensure stability and maneuverability of the MRAC under turbulent atmospheric conditions on Venus. The research includes mathematical modeling of the angular motion of the MRAC, taking into account aerodynamic forces and wind disturbances. A PID controller is used for attitude stabilization, with its parameters optimized using the Nelder-Mead method in combination with numerical integration of the equations of motion. As a result, a system of differential equations describing the angular dynamics of the MRLA has been developed. An automated tuning approach for the controller coefficients is implemented to minimize orientation deviations under random wind disturbances. Numerical simulations confirm the effectiveness of the proposed stabilization algorithm. The suggested approach to automated PID parameter tuning minimizes the integral orientation error and improves the dynamic performance of the multirotor flight control system. The developed stabilization algorithm can be applied to aerial vehicles operating in complex atmospheric conditions, including strong disturbances typical of the Venus cloud layer.