1. College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing 210016 China
2. School of Intelligent Engineering Jiangsu Vocational Institute of Commerce Nanjing 211168 China
3. School of Mathematics and Systems Science Guangdong Polytechnic Normal University Guangzhou 510665 China
4. Department of Mathematics Center for Dynamics, Technische Universität Dresden Dresden 01069 Germany