The non-linear dynamics of the quad-copter aggressively diminishes the performance of PD furthermore the spontaneous switching of the rotors can burn their motors. The aim of the investigation is to study a Fuzzy Takagi-Sugeno method used to control the position and the yaw angle of the quad-copter. It discusses Gain Scheduled PD control with a Fuzzy Supervisory Gain Offset Mechanism/Capability to re-tune its parameters with the changing surroundings. Adaptive Gain-Scheduled control is a combination of classical and modern control approaches. This technique keeps the on board computational requirements very low while the adaptation process regularly update the gains to counter perturbations thus increasing the robustness of the overall system.