1 School of Information Science and Technology, Donghua University, Shanghai 200051, China 2Department of Information Systems and Computing, Brunel University, Uxbridge, Middlesex UB8 3PH, UK 3Department of Engineering, Faculty of Engineering and Science, University of Agder, 4898 Grimstad, Norway 4Department of Applied Mathematics, Harbin University of Science and Technology, Harbin 150080, China 5 Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China 6College of Electrical and Information Engineering, Northeast Petroleum University, Daqing 163318, China 7Department of Automation, Tsinghua University, Beijing 100084, China