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A robust adaptive fault tolerant control rate is designed for a class of nonlinear dynamic system with actuator failures and external disturbances. While the states were not measurable and external disturbance and actuator failures were unknown, the sliding mode observer was designed to estimate the states of controlled nonlinear system states. A fault tolerant control method was proposed using the states estimated and adaptive algorithm was designed to estimate the system’s unknown controller parameters online. This approach can achieve better fault tolerant control effect and external interference suppression. The algorithm is validated to ensure that the controlled system can be asymptotically stable by using Lyapunov approach, and the effectiveness and practicability of the designed method can be demonstrated by example simulation.