<p>This article addresses the stability and tracking control issues of an uncertain quadrotor UAV through the development of a robust constraint-following control approach (RCFC). The proposed scheme is implemented in two main steps. First, a desired control input (i.e., constraint force) is designed by converting the stability (or tracking) control problem into a constraint-following issue, independent of system uncertainties. Second, to suppress significant uncertainties and constraint deviations, the robust constraint control component is incorporated, based on the desired constraint force and the bounds of uncertainties. Consequently, the constructed robust controller (i.e., RCFC) not only attenuates time-varying uncertainties but also ensures that constraint deviations are uniformly bounded (UB) and uniformly ultimately bounded (UUB). The efficacy of the control approach is demonstrated through comparative simulations.</p>