An active fault tolerance control algorithm is proposed for the nonlinear system with actuator and sensor faults simultaneously, which is combined with the robust sliding mode observer and adaptive sliding mode controller design. Firstly, the extended state vector is introduced, and the original system is transformed into the descriptor system. Then for the descriptor system, a descriptor robust sliding mode reconstructed observer with adaptive law is proposed, where the auxiliary matrix is introduced through generalized inverse under constraints, and the coefficient matrices are given through linear matrix inequality, meanwhile, a robust sliding mode differentiator is proposed for estimating the output vector differentiator, thus the actuator and sensor fault reconstructed results are obtained simultaneously. Thirdly, the adaptive sliding tracking fault tolerance controller is proposed based on the fault and state reconstruction results. Finally, an example of the flight simulator servo system is provided to validate the effectiveness of the fault tolerance control algorithm.