[1] Harbin Institute of Technology, Department of Control Science and Engineering, Harbin,150001, China
[2] The Hong Kong Polytechnic University, Department of Mechanical Engineering, Hung Hom, Hong Kong
[3] The Hong Kong University of Science and Technology, Department of Electronic and Computer Engineering, Clear Water Bay, Hong Kong
[4] The Chinese University of Hong Kong, Department of Mechanical and Automation Engineering, Central Ave, Hong Kong