This paper tackles the challenge of managing multiple spacecraft actuators under complex and demanding mission conditions. We propose a flexible, convex optimization-based framework that efficiently allocates control commands across heterogeneous actuator sets while minimizing resource consumption, considering constraints, and performing secondary tasks autonomously. Unlike traditional methods, the algorithm ensures feasible solutions even in the presence of actuator failures, enabling robust operation in degraded scenarios without requiring mode-specific adaptations. To illustrate its versatility, we show how the algorithm can be tailored to a launcher-booster powered descent and landing scenario. Results on the allocation performance are provided for nominal and degraded scenarios and compared to a conventional approach. Altogether, this work establishes a scalable and reliable actuator management solution suitable for next-generation space missions.