An adaptive, robust, fault-tolerant formation control approach is proposed to address the challenges of actuator faults, parameter uncertainty, external disturbances, and communication delays within a formation system. The nonlinear dynamics model of spacecraft relative positions is presented. The adaptive robust fault-tolerant controller is designed with bounded input, and adaptive laws are developed to estimate the values of actuator faults, mass, and upper bound of external disturbances, respectively. Additionally, the Lyapunov stability of the closed-loop system is analyzed, and the necessary conditions to ensure system stability are provided. Numerical simulation results show that the presented control method enables effective formation tracking control, with steady state error of location tracking is less than 1.5×10^-3 m and steady state error of velocity tracking is less than 1.8×10^-5 m, validating the effectiveness of the proposed method.