Abstract—In this paper, we proposed a hybrid intelligent algorithm to control the quadcopter which allows having the movement with six degrees of freedom. The mathematical approach is presented to build the structure of the attitude and positions controllers for this system. Hybrid fuzzy-PID controller is implemented to reach the stability for indoor or outdoor scenarios. The proposed approach imitates the heuristic knowledge design for the system’s membership functions by tuning system uncertainties to new values which is bounded and rebuilt during the real time process. Thus, the initial memberships function will be tuned to create new membership functions based on the predefined uncertainty values. To optimize the structure for the rule knowledge base as well as the processing time, the bacterial evaluation criterion is implemented. The simulation results are analyzed and proved the desired flying behaviors during several scenarios. These results demonstrate the effectiveness of the presented control system and its good performance.