1. Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang 050003, China
2. Tianjin Key Laboratory of Nonlinear Dynamics and Control, Department of Mechanics, School of Mechanical Engineering, Tianjin University, Tianjin 300072, China
3. Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control, Tianjin University of Technology, Tianjin 300384, China