<p>Formation control of multi-agent systems in practice is often constrained by limited communication and actuator degradation. This paper proposes an implementation-oriented, engineering-deployable fault-tolerant formation control framework under restricted state exchange, and adopts helicopters as the research object. First, to accommodate the limited communication resources in practical helicopter formations, a fixed-time formation control strategy is developed with implementation-oriented considerations. Then, for helicopters subject to swash plate faults, an incremental fully-actuated system approach is adopted to enhance robustness against lumped uncertainties, model mismatches, and actuator fault effects, and the convergence of the overall framework is established via Lyapunov stability analysis. Finally, the proposed control framework is deployed and evaluated through software-in-the-loop simulations and real flight experiments on unmanned helicopters, demonstrating its engineering feasibility and practical value.</p>