1. School of Automation and Electrical Engineering, Zhongyuan University of Technology, Zhengzhou, Henan Province, China
2. Ministry of Education, Unmanned Aerial Vehicle Systems Engineering Technology Research Centre of Guangdong, School of Automation Science and Engineering, Key Laboratory of Autonomous Systems and Networked Control, South China University of Technology, Guangzhou, China
3. School of Automation, Beijing Institute of Technology, Beijing, China