An active substituting decentralized fault tolerant control scheme is established for reconfigurable manipulatorswith position and velocity multi-sensor failures. A decentralized neural network controller is presented at the normal workingstate based on the reconfigurable manipulators’ modularity property. The sensor fault is transformed into the pseudoactuator fault scenario by constructing a nonlinear transformation for subsystem structure with diffeomorphism theory, and decentralized sliding mode observers are designed for detecting multi-sensor failures in real time, then the fault signals are substituted with the output of the observers to realize active fault-tolerant control for reconfigurable manipulators under the multi-sensor fault state. Simulation results show the effectiveness of the proposed scheme.