An adaptive robust fault-tolerant formation control approach is proposed to address the problems of actuator fault, parameter uncertainty, external disturbance and communication delay for the formation system. The nonlinear dynamics model of spacecraft relative position is given. The Adaptive robust fault-tolerant controller is designed with bounded input, and the adaptive laws are designed to estimate the values of actuator fault, the mass, and upper bound of external disturbance, respectively. Meanwhile, the Lyapunov stability of the closed-loop system is analyzed, and the necessary conditions to guarantee the system stability are given. The numerical simulation results show that the presented control method can realize the formation tracking control, The steady-state error of position tracking is less than m, and the steady-state error of velocity tracking is less than m, which verifies the effectiveness of the proposed method.