1. Tianjin Key Laboratory for Control Theory and Application in Complicated Systems, Tianjin University of Technology, 391 Bin Shui West Road, Xiqing, Tianjin 300384, P. R. China
2. Tianjin Youfa Dezhong Steel Pipe Co., Ltd., Tianjin 300384, P. R. China
3. Tianjin Key Laboratory of the Design and Intelligent Control of the Advance Mechanical System, Tianjin University of Technology, 391 Bin Shui West Road, Xiqing, Tianjin 300384, P. R. China