In order to solve the problem of trajectory tracking control of quadrotor UAV under saturated input, taking into account the parameter uncertainty of the system and the influence of external wind disturbance, an improved anti-jamming adaptive robust sliding mode control method is designed; based on Six-degree-of-freedom architecture, design a simplified system model of quadrotor UAV, thereby reducing the complexity of controller design; introduce sliding mode function with error signal, design a saturation compensation adaptive control law with error signal, and increase the The robust control term reduces the chattering effect caused by the saturated input problem, and reduces the influence of parameter uncertainty and external wind disturbance on the system stability; the system model is combined with the anti-interference adaptive control law to form an improved The anti-jamming adaptive robust sliding mode control strategy realizes the stable tracking of the position trajectory and attitude trajectory of the quadrotor UAV. Finally, the numerical simulation is compared with the traditional PD control algorithm to verify the effectiveness and superiority of the control method.