Ancilla systems are often indispensable to universal control of a nearly isolated quantum system. However, ancilla systems are typically more vulnerable to environmental noise, which limits the performance of such ancilla-assisted quantum control. To address this challenge of ancilla-induced decoherence, we propose a general framework that integrates quantum control and quantum error correction, so that we can achieve robust quantum gates resilient to ancilla noise. We introduce the path independence criterion for fault-tolerant quantum gates against ancilla errors. As an example, a path-independent gate is provided for superconducting circuits with a hardware-efficient design.