A quadrotor is required by the military to conduct surveillance and monitor in the border and coastal areas of Indonesia. To do so, it requires a tracking path. The widely used tracking control to follow the path is fuzzy logic controller algorithm. This algorithm is applied to control the quadrotor when it follows the trajectory. The problem is that it takes a long rise time; moreover, there is an error on the steady time which generates overshoot. The error member set of the fuzzy logic controller was optimised to obtain more optimum results. The proposed algorithm showed that the quadrotor moved on a predefined trajectory in 1.5 seconds rise time, and 1.9 seconds steady-state time, and there was no overshoot. The problem is that it takes long rise time, generates Error on the steady-state time and there is overshoot. The research aims to accelerate the quadrotor, remove the Error on the steady-state time and reduce overshoot. It optimises the Error member set of the fuzzy logic controller to obtain a more optimum result. The research result showed that the quadrotor moved on a predefined trajectory in 1.5 seconds rise time. The steady-state time of the quadrotor was reached at the 1.9th seconds. The proposed algorithm enables the quadrotor to perform faster rise time, remove Error on the steady time and generate minute overshoot that is 0.1.