To solve the longitudinal trajectory tracking control problem of fixed-wing unmanned aerial vehicles（UAVs）， a basic controller is designed based on the feedback linearization and the model following control to achieve closed-loop system stability and trajectory asymptotic tracking control under normal conditions. Since the actuator of fixed wing UAVs may have different types and severities of faults， compensation controllers are designed according to different fault modes. In order to solve the multiple uncertainties of actuator faults comprehensively， an integrated controller structure is designed by combining the weighted fusion and the adaptive control， and the parameters of the controller related to the faults are estimated. Finally， H∞ compensation is added to the basic controller design to suppress the negative influence of the parameter estimation error of fault compensation controller on the output tracking performance of the closed-loop system. Theoretical analysis and simulation results show that the proposed control scheme not only can guarantee the stability of the closed-loop system. Under the condition of actuator failures， the output of attitude control system of fixed wing UAVs can asymptotically track the output of a given reference model， and the transient performance during fault compensation control can be improved by designing proper parameters of H∞ compensator.