As for actuator failure of quad-rotor UAV formation when switching topology,a fault-tolerant multi-agent consistency control method based on fuzzy system is proposed.Firstly,the error model and actuator failure model of multi-agent quad-rotor UAV are established.Then,the fuzzy system is used to approximate the nonlinear part of the quad-rotor UAV,and an adaptive law is designed to estimate actuator failure and uncertainty of external disturbances.Finally,the stability of the fault-tolerant consistency control law is analyzed,which proves that the tracking error of each of the UAVs is uniformly bounded.The simulation results show that the designed fault-tolerant consistency control law has good stability,robustness and tracking accuracy with the maximum tracking error of only 0.3°,which realizes fault-tolerant UAV consistency control under nonlinear uncertainty,external disturbances and actuator failure when switching topology.