This study presents the modeling, simulation, and control of a novel Micro Single-Rotor UAV (MSRUAV) with an onboard FPV camera for real-time video transmission. The proposed design addresses the high manufacturing costs and mechanical complexity of conventional multirotors by employing a single brushless motor and four servo‑actuated fins for attitude/position control. A comprehensive six‑DoF flight dynamics model is developed, incorporating translational and rotational equations of motion and aerodynamic drag. A cascaded PID‑P‑PI architecture serves as the baseline controller. To enhance disturbance rejection under turbulent wind conditions, a Fuzzy Inference System (FIS) is integrated into the position loop for the real‑time gain scheduling based on error and derivative. Numerical simulations are conducted under indoor (no wind) and outdoor (turbulent) environments, utilizing step and helical trajectory references. Indoor results show that the FIS‑enhanced controller achieves 14.2% lower RMSE and faster settling than the conventional cascaded controller. Under outdoor conditions with 5‑knot mean winds, the FIS controller demonstrates superior vertical tracking while the conventional controller exhibits better horizontal disturbance rejection. Monte Carlo simulations with 200 random wind conditions confirm the improved robustness of the FIS‑cascaded controller, maintaining stable trajectory tracking up to mean wind speeds of approximately 11.6 knots. Overall, the findings indicate that fuzzy‑enhanced control offers an effective and practical solution for improving MSRUAV position control under environmental perturbations, suitable for cost‑sensitive surveillance, inspection, and emergency response.