Abstract. Traditional PID controllers remain widely used in embedded flight control and stabilization systems. However, in small aircraft Attitude and Heading Reference Systems (AHRS), classical PID approaches are insufficient under sensor noise, drift, vibration, and energy limitations typical for lightweight avionics platforms.
This paper proposes a context-aware, risk-sensitive PID framework for AHRS modernization. The controller integrates sensor reliability estimation, energy-aware modulation, and multi-objective optimization into the PID decision logic. The method reduces oscillatory corrections caused by gyroscope and accelerometer noise while preserving attitude tracking accuracy. Simulation results demonstrate reduced integrated control energy, lower multi-objective cost, improved stability, and enhanced robustness under sensor uncertainty typical for MEMS-based AHRS systems. The proposed structure transforms PID from a purely error-compensation mechanism into an intelligent stabilization module suitable for modern small aircraft avionics.

Keywords: PID controller, AHRS modernization, small aircraft stabilization, contextual control, risk-aware control, energy-efficient avionics, sensor reliability, multi-objective optimization.