The power trading system has the characteristics of nonlinearity, dynamics, and complexity. Part of the business data in the trading system needs to be exposed to numerous external business systems. The traditional centralized power trading model has some problems, such as low data security and trust crisis of regulators. Blockchain technology provides prominent ideas for solving these problems. Firstly, the improved AdaBoost algorithm is used to predict the supply and demand gap of power trading nodes. Secondly, based on the fact (...) that the information on the blockchain is only open to the power supply side, a two-stage game model of asymmetric information between the power supply side and the power user is constructed to capture the price competition behavior between them in order to find the Nash equilibrium price in two stages. Finally, the US PJM market electricity market data are used to carry out an example analysis to verify the effectiveness of the algorithm and model. (shrink)

BackgroundCognitive frailty includes reversible and potentially reversible subtypes; the former is known as concurrent physical frailty and pre-mild cognitive impairment subjective cognitive decline, whereas the latter is known as concurrent PF and MCI. The diagnoses of pre-MCI SCD and MCI are based on clinical criteria and various subjective cognitive decline questionnaires. Heterogeneous assessment of cognitive impairment results in significant variability of CI, CF, and their subtype prevalence in various population-based studies.ObjectiveThis study aimed to compare the classification differences in CI and (...) CF subtypes from PF and normal cognition by applying clinical and objective cognitive criteria. Clinical criteria comprised Fried PF and clinical MCI criteria combined with the SCD questionnaire, whereas objective criteria comprised Fried PF and objective cognitive criteria based on the norm-adjusted six neuropsychological test scores.MethodsOf the 335 volunteers in this study, 191 were diagnosed with CI based on clinical cognitive diagnosis criteria, and 144 were identified as robust normal based on objective cognitive assessment from the community-dwelling older adult cohort. Individuals with clinical CI, including 94 with MCI and 97 with pre-MCI SCD, were reclassified into different z-score-derived MCI, pre-MCI SCD, and normal subgroups based on objective cognitive criteria. The classification diagnostic accuracy of normal cognition, PF, pre-MCI, MCI, CF, and CF subtypes based on clinical and objective criteria was compared before and after adjusting for age, sex, and education level.ResultsThe reclassification of objective assessments indicated better performance than that of clinical assessments in terms of discerning CI severity among different subgroups before adjusting for demographic factors. After covariate adjustment, clinical assessments significantly improved the ability to cognitively discriminate normal individuals from those with pre-MCI SCD and MCI but not the z-score-derived pre-MCI SCD and MCI groups from the robust normal group. Furthermore, the adjustment did not improve the ability to discriminate among individuals with reversible CF from those with potentially reversible CF and pre-MCI only SCD from MCI only SCD.ConclusionsObjective criteria showed better performance than clinical criteria in the diagnosis of individuals with CI or CF subtypes. Rapid clinical cognitive screening in combination with normative z-scores criteria is cost effective and sustainable in clinical practice. (shrink)

BackgroundFried physical frailty, with mobility frailty and non-motor frailty phenotypes, is a heterogeneous syndrome. The coexistence of the two phenotypes and cognitive impairment is referred to as cognitive frailty. It remains unknown whether frailty phenotype has a different association with hearing loss and tinnitus.MethodsOf the 5,328 community-dwelling older adults, 429 participants aged ≥58 years were enrolled in the study. The participants were divided into robust, mobility, and non-mobility frailty, mobility and non-mobility CF, and cognitive decline [subdivided into mild cognitive impairment (...) and pre-MCI] groups. The severity and presentations of HL and/or tinnitus were used as dependent variables in the multivariate logistic or nominal regression analyses with forward elimination adjusted for frailty phenotype stratifications and other covariates.ResultsPatients with physical frailty or who are robust were found to have lower probability of developing severe HL and tinnitus, and presented HL and/or tinnitus than those with only cognitive decline, or CF. Patients with RCF and non-mobility RCF had higher probability with less HL and tinnitus, and the presentation of HL and/or tinnitus than those with PRCF and mobility RCF. Other confounders, age, cognitive and social function, cardiovascular disease, depression, and body mass index, independently mediated the severity of HL and tinnitus, and presented HL and/or tinnitus.ConclusionFrailty phenotypes have divergent association with HL and tinnitus. Further research is required to understand the differential mechanisms and the personalized intervention of HL and tinnitus.Clinical Trial RegistrationClinicalTrials.gov identifier, NCT2017K020. (shrink)

An efficient intelligent fault diagnosis model was proposed in this paper to timely and accurately offer a dependable basis for identifying the rolling bearing condition in the actual production application. The model is mainly based on an improved butterfly optimizer algorithm- optimized kernel extreme learning machine model. Firstly, the roller bearing’s vibration signals in the four states that contain normal state, outer race failure, inner race failure, and rolling ball failure are decomposed into several intrinsic mode functions using the complete (...) ensemble empirical mode decomposition based on adaptive noise. Then, the amplitude energy entropies of IMFs are designated as the features of the rolling bearing. In order to eliminate redundant features, a random forest was used to receive the contributions of features to the accuracy of results, and subsets of features were set up by removing one feature in the descending order, using the classification accuracy of the SBOA-KELM model as the criterion to obtain the optimal feature subset. The salp swarm algorithm was introduced to BOA to improve optimization ability, obtain optimal KELM parameters, and avoid the BOA deteriorating into local optimization. Finally, an optimal SBOA-KELM model was constructed for the identification of rolling bearings. In the experiment, SBOA was validated against ten other competitive optimization algorithms on 30 IEEE CEC2017 benchmark functions. The experimental results validated that the SBOA was evident over existing algorithms for most function problems. SBOA-KELM employed for diagnosing the fault diagnosis of rolling bearings obtained improved classification performance and higher stability. Therefore, the proposed SBOA-KELM model can be effectively used to diagnose faults of rolling bearings. (shrink)

There is controversy as to whether children with developmental language disorder (DLD) and those with high-functioning autism plus language impairment (HFA-LI) share similar language profiles. This study investigated the similarities and differences in the production of Chinese negative sentences by children with DLD and children with HFA-LI to provide evidence relevant to this controversy. The results reflect a general resemblance between the two groups in their lower-than-TDA (typically developing age-matched) performance. Both groups encountered difficulties in using negative markers, which suggests (...) that they might be impaired in feature agreement. Slight differences were detected between the two groups. Specifically, children with DLD experienced difficulties with the agreement on the feature [+telic] and that on the feature [+dynamic], while children with HFA-LI had difficulties with the agreement on the feature [+dynamic] and that on the feature [−dynamic]. This study supports the idea of a common symptomatology for the two disorders. More importantly, it suggests that these two disorders, DLD and HFA-LI, are not altogether the same in terms of language impairment. This paper concludes that general labels should not be simply attached to any children with language disorders. Instead, atypical language is very worthy of further analysis in the categorization of language disorders. (shrink)

In this paper, I introduce an intrinsic account of the quantum state. This account contains three desirable features that the standard platonistic account lacks: (1) it does not refer to any abstract mathematical objects such as complex numbers, (2) it is independent of the usual arbitrary conventions in the wave function representation, and (3) it explains why the quantum state has its amplitude and phase degrees of freedom. -/- Consequently, this account extends Hartry Field’s program outlined in Science Without Numbers (...) (1980), responds to David Malament’s long-standing impossibility conjecture (1982), and establishes an important first step towards a genuinely intrinsic and nominalistic account of quantum mechanics. I will also compare the present account to Mark Balaguer’s (1996) nominalization of quantum mechanics and discuss how it might bear on the debate about “wave function realism.” In closing, I will suggest some possible ways to extend this account to accommodate spinorial degrees of freedom and a variable number of particles (e.g. for particle creation and annihilation). -/- Along the way, I axiomatize the quantum phase structure as what I shall call a “periodic difference structure” and prove a representation theorem as well as a uniqueness theorem. These formal results could prove fruitful for further investigation into the metaphysics of phase and theoretical structure. -/- (For a more recent version of this paper, please see "The Intrinsic Structure of Quantum Mechanics" available on PhilPapers.). (shrink)

Consensus of fractional-order multiagent systems with single integral has been wildly studied. However, the dynamics with multiple integral also exist in FOMASs, and they are rarely studied at present. In this paper, consensus problems for multi-integral fractional-order multiagent systems with nonuniform time-delays are addressed. The consensus conditions for MIFOMASs are obtained by a novel frequency-domain method which properly eliminates consensus problems of the systems associated with nonuniform time-delays. Besides, the method revealed in this paper is applicable to classical high-order multiagent (...) systems which is a special case of MIFOMASs. Finally, several numerical simulations with different parameters are performed to validate the correctness of the results. (shrink)

Our understanding of the complexity of the oral biome and of the role of the various constituent bacteria in the aetiology of dental disease is growing. Probiotics and their relationship with prebiotics, as well as other microbiome‐based interventions, could be useful in preventing and treating dental disease and in promoting oral health. However, given the promise and early stage of this treatment approach, there are also a number of ethical, social and regulatory issues associated with innovative probiotic therapy. In this (...) article, a brief update is given on contemporary theories of the aetiology and management of the two commonest dental diseases, and on the roles of pre‐ and probiotics and oral biome transplant in the management of these diseases. The focus is primarily on four core issues: informed consent, risk–benefit assessment, how to determine suitable healthy donors, and commercialization and regulation. We discuss the safety and benefits of oral probiotics, not only concerning the products and quality control during their manufacture, but also regarding the depth of public knowledge about this topic. We point out that the requirement of listing ingredients honestly might be insufficient, and that the prevalent rhetoric of ‘natural’ and ‘organic’ as well as some health claims in the translational, innovative probiotic industry and markets are themselves misleading and should be carefully scrutinized. Finally, we suggest an ethical imperative to find a balance between scientific research and industry, and public health in the regulation of probiotics. (shrink)

Background: Chinese Taoist cognitive therapy (CTCT), a culture-oriented psychological therapy for Chinese mental well-being, has been proposed for decades. However, the evidence for its effects is unclear. This study aimed to systematically assess the effect of this therapy on symptoms of depression and anxiety in Chinese adults. Methods: Relevant studies were searched from major electronic databases through November 2018 without language limits. Several search terms used include “anxiety” OR “depression” AND “Taoism” OR “Daoism” OR “Chinese Taoist Cognitive Therapy”. A total (...) of 11 clinical trials focusing on CTCT were included in this meta-analysis. Random-effects meta-analytical models were conducted. Heterogeneity and publication bias were also explored. Results: Eight clinical trials for 580 subjects were included. The majority of these studies explored samples with depressive symptoms. Overall, CTCT significantly reduced depressive symptoms with a small positive effect (SMD = 0.16, 95% CI: -0.36-0.68). Medium-to-large effect sizes were observed across individuals with clinical or nonclinical depression and chronic physical diseases (SMD = 0.70, 95%CI: 0.27-1.13 and SMD = 0.72, 95%CI: 0.09-1.35, respectively). However, the effectiveness for anxiety symptoms remains debatable. Conclusions: Our findings hold promise that CTCT can help reduce depressive symptoms in Chinese adults, including patients with chronic physical diseases and clinical or nonclinical depression. Our findings may be generalized to Chinese communities in other countries. (shrink)

张岂之先生毕生从事中国思想史的研究与教学, 为中国思想史学科的发展倾注了大量心血. 七月中旬, 来自全国各地的一百余位学者, 在西安就先生最关心的中国思想史研究事业进行回顾总结.

The intracellular multiprotein complex β‐catenin destruction complex plays a key role in Wnt/β‐catenin signaling. Wnt stimulation induces the assembly of the receptor‐associated signalosome and the inactivation of the destruction complex, leading to β‐catenin accumulation and transcriptional activation of the target genes. The core components of the destruction complex include Axin, APC, GSK3β, CK1α and other proteins. Recent studies demonstrated that Axin and APC undergo liquid–liquid phase separation (LLPS), which is critical for their function to regulate Wnt/β‐catenin signaling. Here, we discuss (...) the possible roles of LLPS in Wnt/β‐catenin signaling and regulation of Axin LLPS by post‐translational modifications. (shrink)

In this study, we propose and test the relationship between CSR and firm financial performance, how this relationship differs between firms led by CEOs with political connections and those led by CEOs without political connections, and how this relationship differs between state-owned firms and nonstate-owned firms. Based on a sample of 1645 Chinese listed firms during the period 2011 and 2020 (inclusive), we find that CSR has an inverted U-shaped relationship with firm financial performance. As the level of CSR increases (...) from slight to moderate, CSR is positively related to firm performance; as the level of CSR increases from moderate to great, CSR is negatively related to firm financial performance. Additionally, we find that this inverted U-shaped relationship differs between firms led by CEOs with political connections and those led by CEOs without political connections and differs between state-owned firms and nonstate-owned firms. That is, both the synergic effect (positive effect) of CSR on firm financial performance when the level of CSR is low and the competitive effect (negative effect) of CSR on firm financial performance when the CSR is high are more pronounced for firms led by CEOs without political connections and nonstate-owned firms than for firms led by CEOs with political connections and state-owned firms. The theoretical and managerial implications of these findings are discussed. (shrink)

The present study investigated whether another individual’s gaze direction influences an observer’s affective responses. In Experiment 1, subjective self-ratings and an affective priming paradigm were employed to examine how participants explicitly and implicitly, respectively, evaluated the affective valence of direct gaze, averted gaze, and closed eyes. The explicit self-ratings showed that participants evaluated closed eyes more positively than direct gaze. However, the implicit priming task showed an inverse pattern of results indicating that direct gaze was automatically evaluated more positively than (...) closed eyes were. Experiment 2 confirmed that the opposite patterns of results between the two tasks were not due to differences in presentation times of the gaze stimuli. The results provide evidence for automatic affective reactions to eye gaze and indicate a dissociation between explicit and implicit affective evaluations of eyes and gaze direction. (shrink)

Due in large part to the trends towards economic globalization, English has become the most widely disseminated and ubiquitous international language. The purpose of the study was to investigate what Taiwan?s EFL teachers at the elementary level believe about the policy of English as a compulsory subject and how they perceive the benefits and obstacles of the policy?s implementation. Ten elementary English teachers in Tainan City and its suburban areas participated in this study. Data were collected through teachers? interviews, classroom (...) observation and document analysis. Results found that all ten teachers agreed with the policy for English as a compulsory subject at the elementary level. They observed both positive and negative sides of this top?down policy. Classroom observation and interview data revealed that EFL teachers had to plan their English classes with the constraints on a large class of students with mixed levels of proficiency, limited teaching hours and resources. Parents? expectations of and attitudes towards English learning also became an obstacle. (shrink)

In recent years, while extensive researches on various networks properties have been proposed and accomplished, little has been proposed and done on network robustness and node vulnerability assessment under cascades in directed large-scale online community networks. In essential, an online directed social network is a group-centered and information spread-dominated online platform which is very different from the traditional undirected social network. Some further research studies have indicated that the online social network has high robustness to random removals of nodes but (...) fails to the intentional attacks, particularly to those attacks based on node betweenness or node directed coefficient. To explore on the robustness of directed social network, in this article, we have proposed two novel node centralities of ITG and I M p v. These two new centrality models are designed to capture this cascading effect in directed online social networks. Furthermore, we also propose a new and highly efficient computing method based on iterations for I M p v. Then, with the abundant experiments on the synthetic signed network and real-life networks derived from directed online social media and directed human mobile phone calling network, it has been proved that our ITG and I M p v based on directed social network robustness and node vulnerability assessment method is more accurate, efficient, and faster than several traditional centrality methods such as degree and betweenness. And we also have proposed the solid reasoning and proof process of iteration times k in computation of I M p v. To the best knowledge of us, our research has drawn some new light on the leading edge of robustness on the directed social network. (shrink)

Replication protein A (RPA) is the main eukaryotic single‐stranded DNA (ssDNA) binding protein, having essential roles in all DNA metabolic reactions involving ssDNA. RPA binds ssDNA with high affinity, thereby preventing the formation of secondary structures and protecting ssDNA from the action of nucleases, and directly interacts with other DNA processing proteins. Here, we discuss recent results supporting the idea that one function of RPA is to prevent annealing between short repeats that can lead to chromosome rearrangements by microhomology‐mediated end (...) joining or the formation of hairpin structures that are substrates for structure‐selective nucleases. We suggest that replication fork catastrophe caused by depletion of RPA could result from cleavage of secondary structures by nucleases, and that failure to cleave hairpin structures formed at DNA ends could lead to gene amplification. These studies highlight the important role RPA plays in maintaining genome integrity. (shrink)

Drug abuse has been and continues to be, a common social issue worldwide, yet the efficiency of widely adopted sweeping speech for anti-drug campaigns has proven inefficient. To provide students with a safe and efficient learning situation related to drug refusal skills, we used a novel approach rooted in a serious learning game and concept map during a brief extracurricular period to help students understand drugs and their negative effects. The proposed game-based situational learning system allowed all students to participate (...) simultaneously and individually in multiple scenarios of drug temptation posed by peers and classmates to practice responding and refusing drugs in school and community settings. Moreover, to explore whether different personality traits result in different anti-drug responses, we used a serious game to conduct an anti-drug experiment on 53 junior middle school students aged 13–15. Each participant’s decision-making process was recorded in the serious game as behavioral patterns for lag sequential analysis. The outcomes revealed seven behavioral patterns including differentiation, acceptance, effective and ineffective responses, effective and ineffective solution-seeking, and failure to refuse. The GSEQ which is a computer program for analyzing sequential observational data was used. The results indicated the following: Neuroticism was performed at a relatively low level under the guidance of a concept map. “Neuroticism” was associated with the lowest risk of accepting drugs. Students with “openness to experiences” were at high risk of accepting drugs. Almost all personality behavioral transition diagrams showed that failure to refuse drugs was followed by inefficient seeking of help and inefficient refusal. These findings provide reference points for designing adaptive anti-drug education programs. (shrink)

The Trends in International Mathematics and Science Study found that even though children from all East Asian countries outperformed American children, American students reported higher self-evaluation of their math and science abilities than did students from East Asian countries such as China, Korea, and Japan (Mullis, Martin, Gonzalez, & Chrostowski, 2004). Such cross-cultural differences in self-appraisal fit the stereotype of the modest East Asian and contribute to the received view that East Asians have less positive self-concepts than Americans. This view (...) was summarized recently by Heine, Lehman, Markus, and Kitayama (1999) as follows: ‘‘The need for positive self-regard, as it is currently conceptualized, is not a universal, but rather is rooted in significant aspects of North American culture’’ (p. 766; but cf. Sedikides, Gaertner, & Vevea. (shrink)

Configural face processing precedes featural face processing under the face-attended condition, but their temporal sequence in the absence of attention is unclear. The present study investigated this issue by recording visual mismatch negativity, which indicates the automatic processing of visual information under unattended conditions. Participants performed a central cross size change detection task, in which random sequences of faces were presented peripherally, in an oddball paradigm. In Experiment 1, configural and featural faces were presented infrequently among original faces. In Experiment (...) 2, configural faces were presented infrequently among featural faces, or vice versa. The occipital-temporal vMMN emerged in the 200–360 ms latency range for configural, but not featural, face information. More specifically, configural face information elicited a substantial vMMN component in the 200–360 ms range in Experiment 1. This result was replicated in the 320–360 ms range in Experiment 2, especially in the right hemisphere. These results suggest that configural, but not featural, face information is associated with automatic processing and provides new electrophysiological evidence for the different mechanisms underlying configural and featural face processing under unattended conditions. (shrink)

The understanding of food cue associated neural activations that predict future weight variability may guide the design of effective prevention programs and treatments for overeating and obesity. The current study investigated the association between brain response to different food odors with varied energy density and individual changes of body mass index (BMI) over two years. Twenty-five participants received high-fat (chocolate and peanut), low-fat (bread and peach) food odors and a nonfood odor (rose) while the brain activation was measured using functional (...) magnetic resonance imaging (fMRI). BMIs were calculated with participant’s self-reported body weight and height collected at the time of fMRI scan and again at two years later. Regression analyses revealed significant negative correlations between BMI increase over 2 years and brain activation of the bilateral precuneus and the right posterior cingulate cortex in response to high-fat versus low-fat food odors. In addition, brain activation of the right supplementary motor area in response to food vs non-food odor was negatively correlated to subsequent BMI increase over 2 years. Taken together, the current findings suggest that individual differences in neural responsivity to (high calorie) food odors in brain regions of the default mode and motor control network serve as a neural marker for future BMI change. (shrink)

The evolution of the technology standard alliance is examined using complex adaptive system theory. Taking TSA as a dynamic CAS, an echo model is constructed to depict the mechanism of its evolution, and a model is simulated on the NetLogo platform. The echo model includes a basic model, an extended model, and a three-layer echo model. The adhesive aggregation of agents is explained, and the three evolutionary stages of agents’ entry, migration, and exit are analyzed. Moreover, the adaptability of agents (...) in TSA is quantified. The results of simulation show the evolution of the TSA in relation to the two aspects of agent adhesion aggregation and agent resource interaction, and they demonstrate the dynamic and complex hierarchical structure of the TSA system. It is proposed that greater matching ability, moderate behavior income, and lower behavior cost are more conducive to the evolution and development of TSA. Additionally, the echo model is reconstructed to expand the range of application of CAS theory. (shrink)

CEO compensation by nonprofit organizations is controversial. Higher-qualified CEOs should be compensated more than lesser-qualified individuals because of better performance regarding organizational goals and missions. Alternatively, an ethical issue may exist if CEOs are overcompensated resulting in a negative impact on the operations of their organizations. Donors have the incentive to monitor nonprofit organizations, but their role is limited to their ability to acquire nonprofit organization information. However, charity rating agencies make information more accessible and understandable, thus reducing information asymmetry (...) between donors and nonprofit organizations. This study examines whether charity rating availability is associated with negative pay-to-performance sensitivity. Using a sample derived from the IRS Form 990 s and Charity Navigator ratings, this study provides evidence that rating availability is negatively related to pay-to-performance sensitivity in nonprofit organizations. Additional tests provide evidence that the overall rating score and its financial rating component are negatively associated with pay-to-performance sensitivity. (shrink)

This qualitative research focuses on Dong's Wind and Rain Bridges in Chengyang Bazhai in Liuzhou, China. This research explores the academic issue of public space and meaning change in the process of minority development, through the Dong's Wind and Rain Bridges phenomenon. The findings of this research are that public space in all societies in the world is a fusion of space production and meaning and constructs identity and social relations. It has changed in the context of the times and (...) has produced new functions for different groups of people, constantly generating new meanings superimposed on the old meanings. As an important public space in the community, Dong's Wind and Rain Bridges include the physical space production of the surrounding area and the social and mental space production of the Dong ethnic group, emphasizing the close relationship between "space production" and "ethnic identity". In the process of minority development in China, the use of the wind and rain bridge's public space has changed socially, responding to the new needs of different groups. It, therefore, has been constantly undergoing "meaning change". (shrink)

The development and application scope of the Internet of Things is also becoming more and more extensive. Especially in the application of power testing improved systems, great progress has been made. This article aims to study how to analyze the system detection equipment based on the Internet of Things. This article describes the basic theoretical knowledge of the Internet of Things and power detection improved systems. A clustering analysis algorithm and a support vector machine algorithm based on the Internet of (...) Things are proposed. In the experiment of this article, the scoring items of the expert’s traditional detection system include complex technology, inconvenient use, and incomplete intelligence. Among them, the highest score for complex technology is 8.6 points, the lowest score is 7 points; the highest score for inconvenience is 8.6 points, and the lowest is 8.3 points. It can be seen that related experts believe that the traditional power detection improved system is not only very complicated in technology, very inconvenient to use but also incompletely intelligent. Therefore, it is very necessary to study the system detection equipment based on the Internet of Things. (shrink)

Kuhn's theory of paradigm reveals a pattern of scientific progress, in which normal science alternates with scientific revolution. But Kuhn underrated too much the function of scientific test in his pattern, because he focuses all his attention on the hypothetico-deductive schema instead of Bayesian schema. This paper employs Bayesian schema to re-examine Kuhn's theory of paradigm, to uncover its logical and rational components, and to illustrate the tensional structure of logic and belief, rationality and irrationality, in the process of scientific (...) revolution. (shrink)

Taking a panoramic view on the history of modem philosophy, we can learn that political philosophy, a new arena for modem philosophy, has become an important field in philosophical studies since the later half of the 20th century. As far as the problem domain of political philosophy is concerned, political philosophy is only a special form of philosophy. The revival of political philosophy, however, indicates that philosophical inspection of political matters has regained legitimacy, and also means the restaging of philosophy (...) as a knowledge type at modern times. In one sense, we can view the newly-revived political philosophy as typical modemrn philosophy, because its problem domain, its unique angle of looking into the life world and its ideal concern about the actual world make it one of the best ways in which we can reflect the existence of mankind in modern times. (shrink)

This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means of matrix (...) properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance. (shrink)