1. School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China;
2. School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021, China e-mail:
3. School of Automation, Hangzhou Dianzi University, Hangzhou 310018, China
4. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, China
5. School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021, China
6. Digital Manufacture Technology Key Laboratory of Jiangsu Province, Huai'an 223003, China
7. Henan Provincial Open Laboratory for Control Engineering Key Discipline, Jiaozuo 454000, China