Generally, Quadrotor type Unmanned Aerial Vehicles are unstable in nature, so to stabilize it, the controller is used. This paper observes the PD controller that make use of UAV to control the adjust of quadrotor UAV even as in the air. The gain parameters of the PD controller, the proportional gain Kp and the derivative gain Kd are apply to be stable and good performance. Unmanned aerial vehicles (UAV) are becoming increasingly common and span a huge range of size and shape. After integrating PD controllers into the systems, quadcopter settling time of roll, pitch and yaw system. Simulations result and comparison of X, Yand Yaw control techniques are presented at the end of this paper. This controller monitors the controlled process variable, and compares it with the reference or set point. The difference between actual and desired value of the process variable, called the error signal. Error is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Control action in which the output is proportional to a linear combination of the input and the time rate of change of input.