The recently emerging cyber-physical-social system (CPSS) can enable efficient interactions between the social world and cyber-physical system (CPS). The wireless sensor network (WSN) with physical and social sensor nodes plays an important role in CPSS. The integration of the social sensors and physical sensors in CPSS provides an advantage for smart services in different application areas. However, the dynamics of social mobility for social sensors pose new challenges for implementing the coordination of transmission. Furthermore, the integration of social and physical sensors also faces the challenges in term of improving energy efficiency and increasing transmission range. To solve these problems, we integrate the model of social dynamics with collaborative beamforming (CB) technique to formulate the transmission optimization problem as a dynamic game. A novel transmission scheme based on reinforcement learning is proposed to solve the formulated problem. The corresponding implementation of the proposed transmission scheme in CPSS is presented by the design of message exchange processes. The extensive simulation results demonstrate that the proposed transmission scheme presents lower interference to noise ratio (INR) and better signal to noise ratio (SNR) performance in comparison with the existing schemes. The results also indicate that the proposed method has effective adaptation to the dynamic mobility of social sensor nodes in CPSS.