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First, a neural network fault detection scheme is proposed, Second, an adaptive attitude tracking strategy is employed which can realize fault tolerance control under the actuator partial loss and actuator failure within \\(\\lambda_{\\min} = 0.5\\). The attitude tracking and faults detection are always here during the procedure. Once the fault occurred which could not guaranteed the attitude stable for 30 s, the robust control allocation strategy is generated automatically. The robust control allocation compensates the control effectiveness uncertainty which caused the actuator misalignment. The unknown disturbances, uncertain inertia matrix, and even actuator error with limited actuators are all considered in the controller design process. All are achieved with inexpensive online computations. 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