In response to actuator failures in Hexa-Rotor, this paper attempts to design fault-tolerant attitude controller using method of adaptive backstepping and robust adaptive backstepping. Firstly, a adaptive backstepping controller has been designed for model parameter adaptation and actuator fault tolerance. Subsequently, a robust control algorithm has been integrated with adaptive backstepping control to enhance system’s resilience to multiplicative faults or unmodeled disturbance in control of Hexa-Rotor. Both simulation studies and experiment test are presented to illustrate the ability of fault tolerant controllers for Hexa-Rotor with motor faults or rotor faults.