1. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, School of Mechatronic Engineering, China University of Mining and Technology 1 , Xuzhou 221116, Jiangsu, People’s Republic of China
2. School of Computer Science and Technology, China University of Mining and Technology 2 , Xuzhou 221116, Jiangsu, People’s Republic of China
3. Nonlinear Dynamics, Chaos and Complex Systems Group, Departamento de Física, Universidad Rey Juan Carlos 3 , Tulipán s/n, 28933 Móstoles, Madrid, Spain