1. Key Laboratory of Image Information Processing, and Intelligent Control of Education Ministry of China, School of Automation, Huazhong University of Science and Technology, Wuhan 430074, Hubei, P. R. China
2. and Zhengzhou University of Light Industry, Zhengzhou 450002, Henan, P. R. China
3. Institute of Mathematics of the Romanian Academy, P. O. Box 1-764, RO-014700 Bucharest, Romania
4. Robotics Research Center, Xihua University, Chengdu 610039, P. R. China
5. Key Laboratory of Fluid and Power Machinery (Xihua University), Ministry of Education, Chengdu 610039, P. R. China
6. School of Electrical Engineering, Southwest Jiaotong University, Chengdu 610031, P. R. China
7. Centre for Computational Intelligence, School of Computer Science and Informatics, De Montfort University, The Gateway, Leicester LE1 9BH, England, UK