This paper addresses the problem of trajectory tracking control of autonomous rotorcraft relative to pole-shaped structures using LiDAR sensors. The proposed approach defines an alternative kinematic model, directly based on LiDAR measurements, and uses a trajectory-dependent error space to express the dynamic model of the vehicle. An LPV representation with piecewise affine dependence on the parameters is adopted to describe the error dynamics over a set of predefined operating regions. The synthesis problem is stated as a continuous-time H2 control problem, solved using LMIs and implemented within the scope of gain-scheduling control theory. The performance of the proposed control method is validated with comprehensive simulation results.