1. Tianjin University Department of Mechanics, , Tianjin 300350 , China
2. Tianjin University Department of Mechanics; Tianjin Key Laboratory of Nonlinear Dynamics and Control, , Tianjin 300350 , China
3. University of Auckland Department of Mechanical and Mechatronics Engineering, , Auckland 1010 , New Zealand
4. Northeastern University School of Mechanical Engineering and Automation, , Shenyang 110819 , China