This paper presents an extension of the simple adaptive control (SAC) deal with input saturation for the attitude control of the unmanned aerial vehicle (UAV). A new SAC structure with the virtual saturation function and adaptive anti-windup compensator is proposed to deal with the actuator saturation caused by the actuator fault and parameter uncertainty. Furthermore, the stability of the entire closed-loop system is theoretically proved by the Lyapunov analysis. To demonstrate its practicality, the designed controller is tested on the attitude control of the UAV, showing enhanced anti-windup ability over the conventional SAC in the presence of the actuator fault and parameter uncertainty.
