1. Department of Mechanical Engineering, University of Maryland, Baltimore County, 1000 Hilltop Circle, Baltimore, MD 21250 e-mail:
2. School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China e-mail:
3. Fellow ASME Division of Dynamics and Control, School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;