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In order to solve the problem of attitude control during the flight of quadrotor UAV, considering the influence of actuator input constraints and external unknown disturbances, a model predictive control method for quadrotor UAV attitude stability with input constraints and disturbance compensation is designed; Design a simplified quadrotor UAV attitude dynamics model to reduce the complexity of controller design, design a controller with input constraints, simulate saturated input phenomena, and realize quadrotor attitude stability control under saturated input; design wind disturbance observation The controller can realize the estimation of the external unknown disturbance, effectively track the external continuous disturbance, and design the disturbance compensation law based on this; design the optimal control law with the disturbance compensation law around the cost function, and act on the quadrotor attitude system to realize the quadrotor without Stability control of man-machine attitude; finally, numerical simulation is carried out, the wind disturbance observer parameter λi is set to 0.25, the prediction time domain Np is 10, the control time domain Nc is 9, and the simulation test is carried out between the method in this paper and the nonlinear predictive control without observer method (NMPC) to verify the effectiveness and superiority of the control method in this paper.