1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Binshuixi Road, No. 391, Tianjin 300384, China
2. Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems, Tianjin University of Technology, Binshuixi Road, No. 391, Tianjin 300384, China
3. Military General Hospital of Beijing PLA, Beijing 100026, China