[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
[2] Tongji Univ, Shanghai 200092, Peoples R China
[3] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Peoples R China
[4] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore, Singapore