An adaptive compensate control scheme is proposed for the flight dynamic system in the presence of actuator failure, where the system is modeled in switched polytopic style. Firstly, an adaptive gain-scheduled controller is designed for the uncertain switched polytopic system of flight vehicles with the large envelope, which guarantees the stability in the whole envelope. Then, aiming at the problem of actuator failure with its unknown value and mode, an adaptive fault-tolerant controller is constructed, and a kind of method combining the common Lyapunov function and average dwell time is proposed to validate the stability of closed-loop system. The scheme proposed solves the fault-tolerant controller design problem for the flight vehicles switched polytopic system. The simulation results show the good performance of proposed method.