1. College of Applied Mathematics, Chengdu University of Information Technology, Chengdu 610225, China
2. Control Engineering College, Chengdu University of Information Technology, Chengdu 610225, China
3. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110169, China
4. Department of Applied Mathematics, Southwestern University of Finance and Economics, Chengdu 610074, China