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This paper reports a designed method of fault diagnosis, estimation, and fault-tolerant control aiming at solving the problems of time–delay variation of system parameters, actuator time-varying failure, and external disturbance under the flight mode of air-ground platform. Firstly, a robust fault observer is designed to accurately detect the fault of unmanned air-ground attitude system with time-varying parameter delay and reduce the false alarm rate through reasonable assumptions; secondly, considering the actual computing power of the system, the method of estimating the overall fault size of the system instead of estimating each sub fault separately is adopted to reduce the memory space and computation. Then, based on the fault diagnosis and estimation, the fault-tolerant control rate is designed, the integral term is reasonably introduced to eliminate the chattering problem in the fault-tolerant control, and the appropriate nonlinear function is selected as the ideal control input to optimize the transient performance of the system. Finally, the stability of the system is proved, and the effectiveness of the proposed method is verified by simulation.