<p>This paper addresses the security control problem of high-order fully actuated (HOFA) systems under actuator attacks. First, four adaptive control algorithms are proposed to mitigate the effects of these attacks. By selecting appropriate Lyapunov functions, this paper demonstrates that the proposed controllers can ensure the closed-loop system’s state converges to zero, even when subjected to time-invariant actuator attacks. Furthermore, the adaptive controllers guarantee the system’s uniform ultimate boundedness under time-varying actuator attacks. Finally, the effectiveness of the proposed adaptive control algorithms is validated through simulation results based on numerical examples, underscoring their practical applicability.</p>