Can all levels of RAID recover data if a drive fails?

I have a flatbed server with four hard drives set up in a RAID configuration. One of the drives is freezing and has become unresponsive.
I was told that if one drive fails, the whole array could stop working.
Is there any way to clone the bad drive and get the system to boot, or will it keep giving me issues no matter what I do?

Tagged: RAID