[1] Tianjin Univ Technol, Tianjin Key Lab Design & Intelligent Control Adv, Tianjin 300384, Peoples R China
[2] Tianjin Univ Technol, Natl Demonstrat Ctr Expt Mech & Elect Engn Educ, Tianjin 300384, Peoples R China
[3] Beijing Univ Technol, Coll Mech Engn, Beijing 100124, Peoples R China
[4] Tianjin Chengjian Univ, Sch Sci, Tianjin 300384, Peoples R China