Unmanned aerial vehicle (UAV) refers to an aircraft controlled remotely or by an onboard autopilot. It can be equipped by a variety of devices such as cameras, sensors and communication systems. UAVs are able to perform various operations including aerial tracking, battlefield imaging, ground or aerial targets tracking, electronic warfare, suicide bombings, and etc. UAVs have less manufacturing and maintenance costs compared to the piloted aircrafts. Currenttechnologiesarefairly sufficient forUAV systemsinstructuredenvironments; however, these haveproblemsinenvironmentswithuncertainties. Therefore,an automaticcontrol is proposed forUAV. Automaticcontrolsystemsare designed in a way that they can response in the presence of significantuncertainties in system and environment. These systemswithout the interventionof external factors should be able toovercomethe problems caused byfailures. Automaticcontrolsystemsutilizeartificial intelligencetechniquestoachievethis level ofself-analysis. In this research,theindirectadaptive fuzzycontrolleris usedto controlthe position ofthe UAV. Phasedetectorparameters are updated by the errorbetweenmodel outputand theindicatoroutput in online fashion. Sensitivity(variation of the ratio of outputto input) of UAVisapproximatelyequalto thesensitivity of thedetector. Using thedetector sensitivityand the difference betweenthe desiredinputand system output,parametersoffuzzycontroller become adaptive,increasing theconvergence ofthe system. Keywords: Unmanned aerial vehicle (UAV), fuzzy-adaptive control, sensitivity.