The flocking control problem of a group of quadrotor aerial vehicles is studied under limited distance for real-time information exchanges and bounded constraints on the input controller.The method of combining the bounded function with the modified saturation function is presented to design the bounded total-thrust controller in the position subsystem, which will adjust the positions and velocities of the group of quadrotor aerial vehicles autonomously, so as to realize ideal collision avoidance and cohesion maintenance, as well as velocity consensus.The generalized bounded torque controller is designed by combining the bounded transformation term with the modified nested saturation function to adjust the attitude of the aerial vehicles autonomously, so as to achieve the yaw angle consensus in the rotational subsystem.Finally, simulation results have proved the validness of the designed input controller.