[1] Tianjin Univ, Sch Mech Engn, Tianjin 300354, Peoples R China
[2] Tianjin Key Lab Nonlinear Dynam & Control, Tianjin 300072, Peoples R China
[3] Rutgers State Univ, Dept Mech & Aerosp Engn, New Brunswick, NJ 08903 USA
[4] Tianjin Univ, Sch Chem Engn & Technol, Tianjin 300072, Peoples R China