Abstract: To address the issue that the reliability and lifespan of multi-agent systems are affected by health state degradation during long-term operation, a health-maintenance coverage control algorithm based is proposed. Firstly, the agents are driven to move towards the centroids of their Voronoi partitions based on the Voronoi partitioning. Secondly, a real-time health state assessment model is designed, and a health safety threshold is set. Finally, a health energy function is constructed and its gradient is used as an adaptive adjustment parameter to dynamically adjust the controller gain, ensuring that the health state of all agents remains above the safety threshold during the coverage task, thereby effectively delaying system performance degradation. Simulations show that, compared with existing algorithms, the proposed algorithm ensures that the health states of all agents stay above the safety threshold while maintaining good coverage performance and convergence time, overcoming the issue that health states of some agents in comparative algorithms is seriously below the threshold. The algorithm also demonstrates good coverage capability and health maintenance effectiveness in complex scenarios.