Abstract: An adaptive compensation control law is designed for a class of multi-input-multi-output nonlinear minimum phase systems with actuator failures. Based on the differential geometry feedback linearization method, prescribed performance bound, and backstepping technique, an adaptive compensation tracking-control scheme is designed for systems with actuators lock in space and loss-of-effectiveness failure. The proposed control law can guarantee that a closed-loop system with actuator failure stably and asymptotically tracks the given reference signals, and system transient performance is satisfactory. The simulation results demonstrate the effectiveness of the proposed method.