1. School of Automation and Information Engineering, Xi’an University of Technology, Xi’an 710048, China
2. Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, Xi’an 710048, China
3. School of Sciences, Xi’an Technological University, Xi’an 710021, China
4. School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215137, China