1. College of Mathematics and Systems Science, Shandong University of Science and Technology, Qingdao 266590, P. R. China
2. School of Electronic Information, Qingdao University, Qingdao 266071, P. R. China
3. Institute of Complexity Science, Qingdao University, Qingdao 266071, P. R. China
4. Laboratoire Angevin de Recherche en Ingénierie des Systèmes (LARIS), Université d’Angers, 62 Avenue Notre Dame du Lac, 49000 Angers, France