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Quadcopters have unstable systems, and one of the main reasons for the irregularity of their systems may be the behavior of the output of certain types of control units. But the development that an event in the control methods made the control of these systems very effective to achieve the maximum stability required. Examples of methods with modern controllers we mention here are the linear quadratic regulator (LQR) controller, Besides the (MPC) model predictive controller, there is also the integral proportionally derivative (PID)which we worked on developing in this research. This paper aims to deal with compensation for position tracking error of quadrotor. To address this problem, we designed an adaptive PID controller that enhances the tracking performance and tests the proposed controller on two different trajectories against the performance of the normal PID controller. Through the simulation results using MATLAB the suggested strategy was shown to be effective in lowering the errors associated tracking of intended trajectories in X and Y orientations.