1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China e-mail:
2. Nonlinear Dynamics, Chaos, and Complex Systems Group, Departamento de Física, Universidad Rey Juan Carlos, Tulipán s/n, Móstoles, Madrid 28933, Spain e-mail:
3. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China