1. Tianjin Key Laboratory for Control Theory & Application in Complicated Systems, Tianjin University of Technology, 391, Binshui Xidao, Xiqing District, Tianjin 300384, China
2. Tianjin Youfa Dezhong Steel Pipe Co. Ltd, Tianjin 300384, China
3. Tianjin Key Laboratory of the Design and Intelligent Control of the Advance Mechanical System, Tianjin University of Technology, 391, Binshui Xidao, Xiqing District, Tianjin 300384, China