The invention discloses an unmanned helicopter tracking control method considering input saturation, and the method comprises the following steps: 1, building an unmanned helicopter control system mathematical model according to a Newton-Euler equation, and taking the modeling uncertainty and external interference as total disturbance; 2, determining an expected track and defining an error variable according to an actual demand, and introducing a controller saturation function; 3, designing an anti-saturation auxiliary system to compensate the input saturation of an actuator; 4, modeling uncertainty and external interference are approximated by adopting a radial basis function (RBF) neural network; and 5, designing an anti-saturation controller in combination with sliding mode control, and adopting a double-closed-loop control strategy to enable a trajectory tracking error signal to be finally converged to an original point progressively when the unmanned helicopter system is in an input saturation condition. According to the method, the problem of actuator input saturation can be solved while the modeling uncertainty is overcome, the anti-interference capability and robustness of the control system are enhanced, and the stability and dynamic quality of the unmanned helicopter control system are improved.