[1] Shanghai Jiao Tong Univ, Key Lab Marine Intelligent Equipment & Syst, Minist Educ, Shanghai 200240, Peoples R China
[2] China Ship Dev & Design Ctr, Wuhan 430060, Peoples R China
[3] Wuhan Univ Technol, Sch Automat, Wuhan 430070, Peoples R China
[4] Cent Southern China Elect Power Design Inst, Wuhan 430071, Peoples R China