Multiple Unmanned Aerial Vehicle (UAV) system self-organization cooperative operation based on consensus theory has become an effective operational mode for dealing with sudden tasks,mission rendezvous is the first action and vital part of self-organized cooperative control.After giving the problem description of self-organization cooperative and optimal control under the cooperative game framework,and establishing Pareto Solution Set of optimal control input,the basic cooperative game optimal consensus control algorithm is presented by Nash Bargaining Solution under self-organization cooperative control structure based on fast consensus control algorithm,which can achieve optimal control objectives such as optimal energy cost in the coordination process of system task status,dynamic response of cooperative control,timeliness of rendezvous action.After introducing outdated status difference into the basic algorithm,and optimizing the weighted matrix of the cost function by genetic algorithm,which is based on the fitness function constructed of optimal control targets,the improved cooperative game optimal consensus control algorithm is presented.Theoretical analysis and simulation results verify the feasibility and effectiveness of the method.