This paper studies the problem of robust fault-tolerant control caused by actuator failure and uncertain parameters in the process of airship residence control. Firstly the actuator failure is mathematically represented by a generalized quadratic form, which facilitates the consideration of structural information and others in controller design. Consequently, the design conservatism is greatly reduced. Finally, the non-convex fault-tolerant control of airship pitch angle is convexed by using the lossless separation operator presented in the paper, and the simulative results show its effectiveness.