1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
2. Dalian Huarui Heavy Industry Group Co., Ltd., Dalian 116013, China
3. Department of Engineering, University of Leicester, Leicester LE1 7RH, UK
4. Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships, Dalian 116026, China