  The main objective of this work is demonstrated through two main aspects. The
first is the design of an adaptive neuro-fuzzy inference system (ANFIS)
controller to develop the attitude and altitude of a quadcopter. The second is
to establish the linearized mathematical model of the quadcopter in a simple
and clear way. To show the effectiveness of the ANFIS approach, the performance
of a well-trained ANFIS controller is compared to a classical
proportional-derivative (PD) controller and a properly tuned fuzzy logic
controller.
