1. Department of Mechanical Engineering, University of Maryland, Baltimore County, 1000 Hilltop Circle, Baltimore, MD 21250 e-mail:
2. Professor Fellow ASME Division of Dynamics and Control, School of Astronautics, Harbin Institute of Technology, P.O. Box 137, Harbin 150001, China; Department of Mechanical Engineering, University of Maryland, Baltimore County, 1000 Hilltop Circle, Baltimore, MD 21250 e-mail: