This paper presents a mathematical approach of the controlling of Unmanned Aerial Vehicle (UAV) translational and rotational movement dynamics by using classical regulation, pole-placement & tracking (RST) controller with model reference adaptive control (MRAC). Identification of a black box is done by using the Least Square Estimation (LSE) method while MIT rule is used as a control algorithm in conjunction with the RST controller with MRAC. The desired result of 6-degrees of freedom (DOF) via Multiple Input and Multiple Output (MIMO) model comprises the equation of motions which utilizes UAV to stabilize the nonlinear, translational and rotational movement implements the adaptive approach via initial conditions at the start of vertical takeoff. The numerical approach simplifies the control equations of the tri-rotor and stabilizes towards linearity.The resulted control strategy is affected over nonlinear simulation for each control dynamic and gives more stability with less power requirements. Hence the adaptive algorithm is ensuring the controlling and stability of the system.