Aiming at the excessive control weight parameters of multi-effector vehicle and the low utilizing rate of virtual
attainable subset, a multi-objective optimization scheme to offline determine the weight coefficients of control allocation is
proposed based on the improved non-dominated sorting genetic algorithm(INSGA). The models of weighted pseudo-inverse
and mixed optimization are presented respectively, and the uniform control law is deducted. Considering the performance
requirements of distributing efficiency and allocating mode, the multi-objective optimization model of weight coefficients is
built, which is calculated offline by using INSGA. The simulation results show that, the proposed method can offer many
tradeoff Pareto-optimal solutions, which can realize the multi-objective optimization design of weight coefficients for the
weighted control allocation scheme.