1. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
3. School of Automation, Beijing Institute of Technology, Beijing 100081, China
4. Beijing Institute of Aerospace Control Devices, Beijing 100039, China
5. School of Electrical and Information Engineering, University of Sydney, Sydney, NSW 2006, Australia