1. Northeastern University,College of Information Science and Engineering,Shenyang,China
2. Northeastern University,State Laboratory of Synthesis Automation of Process Industry,Shenyang,China
3. Dalian University of Technology,Faculty of Electronic Information and Electrical Engineering,Dalian,China
4. Shanghai Engineering Research Center of IntelligentControl and Management Shanghai Jiao Tong University,Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation,Shanghai,China