1. School of Mathematics and Statistics, Northwestern Polytechnical University, Xi'an 710072, China
2. MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern Polytechnical University, Xi'an 710072, China
3. School of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China
4. Institute for Complex Systems and Mathematical Biology, Kingdom College, University of Aberdeen, Aberdeen AB24 3UE, United Kingdom