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This study proposes a reconfigurable fault‐tolerant control method using an adaptive fault identification technique with application to an unmanned surface vehicle with consideration of environmental disturbances and system constraints, including both second‐order input operations (actuator magnitude and rate faults) and multi‐classification fault modeling features (lock‐in‐place or hard‐over, and loss of effectiveness). To begin with, unknown parameter compensator‐based observers with adaptive projection laws are designed for the respective double‐parameter and single‐parameter adaptive fault identification cases, and it is proved that the actual input estimation and fault parameter estimation errors are bounded. Then, double‐parameter and single‐parameter adaptive reconfigurable fault‐tolerant controllers are synthesized by combining the finite‐time baseline tracking control and terminal sliding‐mode …