Transcritical and saddle-node bifurcation behaviors of nonlinear ion-acoustic wave (IAW) characteristics are examined in a five-component plasma system in the Venusian upper ionosphere at an altitude of 1000-2000 km. The plasma model comprises $H^{+}$ , $O^{+}$ ions, solar wind protons (sp), along with Maxwellian distributed planetary electrons ( $e$ ) and solar wind electrons (se). The governing model equations are transformed into an ordinary differential equation (ODE) using a non-perturbative approach. A planar dynamical system is then derived by applying the theory of phase plane analysis. Various possible phase portraits are constructed to explore the associated nonlinear wave phenomena. The effects of plasma parameters such as $\rho $ , $\omega $ , $\zeta $ (unperturbed number density ratios), $\sigma _{se}$ (the temperature ratio), and $\lambda $ (the travelling wave speed) on nonlinear wave features are systematically investigated. Specifically, the influences of these parameters on the features of ion-acoustic solitary waves (IASWs) and nonlinear periodic ion-acoustic waves (NPIAWs) are analyzed. It is observed that a decrease in $\rho $ enhances amplitude with minimal change in width of the IASW. It is also observed that increasing $\omega $ , $\zeta $ , and $\sigma _{se}$ results in a decrease in amplitude while having a negligible effect on width of the IASW. Additionally, it is observed that a decrease in $\lambda $ leads to a reduction in amplitude along with a noticeable broadening of the IASW. It is also observed that increasing $\rho $ , $\omega $ , $\zeta $ , and $\sigma _{se}$ reduces amplitude and slightly narrows the width of the NPIAW. It is further observed that an increase in $\lambda $ significantly increases both amplitude and width of the NPIAW. Vector field diagrams are generated for various values of the control parameter $\lambda $ , and the corresponding bifurcation curve is plotted. Based on the variation in $\lambda $ , a combination of transcritical and saddle-node bifurcations is observed in the Venusian upper ionosphere. These findings contribute to a deeper understanding of the bifurcation features of IAWs in the Venusian ionospheric environment.