考虑多无人机编队自主重构的优化设计问题，联合编队过程中的3类代价函数、无人机的非线性动力学方程以及4类不等式约束条件，构成一个非线性多目标优化模型。采用加权和策略并将所有的等式和不等式约束分别组合，将非线性多目标优化模型转化为一个标准的非线性单目标优化模型。采用运筹学中的内点算法来求解最优解，并在算法的实现过程中做了某些改进，以避免出现矩阵的秩亏损。从理论上证明多目标优化在加权和策略下与单目标优化间的等价性。最后用仿真算例验证了算法的有效性。

The problem of how to design the multi-UAV formation autonomous reconfiguration is studied. Based on three kinds of cost functions,the nonlinear dynamic equations of UAVs and four inequality constrain conditions,a nonlinear multi-objective optimization model is constructed. After applying weighted sum method and separating all equality constraints from inequality constraints,the former nonlinear multi-objective optimization model is converted into a standard nonlinear single-objective optimization model. Then the interior point algorithm from operations research is used to solve the optimization problem. To avoid rank deficiency,some improvements are made in realizing the interior point algorithm. The equivalence property between multi-objective optimization through weighted sum method and single-objective optimization is proved. Finally,the efficiency of the proposed strategy is confirmed by the simulation results.