Actuator constraints such as magnitude and rate limits play a prominent role in advanced control systems. These limits induce nonlinear behavior which may lead to performance degradation, occurrence of limit cycles, multiple equilibria, and even instability. In this research, we proposed a solution to handle actuator’s magnitude and rate constraints in uncertain over-actuated systems. This is done by introducing a modified projection algorithm. In addition, the properties of this new algorithm required for ensuring stability and boundedness of the signals are proved. This algorithm can also be employed for adaptive control systems.