<p>The control of unmanned aerial vehicles (UAVs) has been an active area of research over the past decade, particularly for operations in complex environments. This paper addresses the finite-time fault-tolerant control problem for UAV subjected to simultaneous actuator faults and wind disturbances. A novel adaptive finite-time disturbance observer-based fault-tolerant control (AFTDO-FTC) scheme is proposed. This scheme integrates a finite-time sliding surface, a nonlinear disturbance observer, and an adaptive controller to achieve accurate tracking of position and attitude. First, a nonlinear disturbance observer is designed to estimate the lumped uncertainty arising from combined faults and wind disturbances. Then, a finite-time sliding surface, formulated using weighted error vectors, is introduced to effectively mitigate the adverse effects of estimation errors from the disturbance observer. Furthermore, adaptive finite-time position and attitude controllers are developed based on the estimates provided by the adaptive disturbance observer. Finally, the effectiveness of the proposed method is verified through comparative simulations and Lyapunov stability analysis.</p>