1. Anhui Province Key Laboratory of Special Heavy Load Robot and School of Metallurgy Engineering, Anhui University of Technology, Ma'anshan, China
2. School of Electrical and Information Engineering, Anhui University of Technology, Ma'anshan, China
3. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, China
4. School of Automation, Nanjing University of Science and Technology, Nanjing, China