[1
]School of Electronics and Control Engineering, Chang’an University, Xi’an, Shaanxi
710064, China
[2
]School of Mechatronics Engineering, Harbin Institute of Technology, West Da-zhi Street
92, Harbin, Heilongjiang 150001, People’s Republic of China
[3
]State Key Laboratory of Robotics and System, Harbin Institute of Technology, West
Da-zhi Street 92, Harbin, Heilongjiang 150001, People’s Republic of China